# US 2025/0151978 A1 · Collision warning for medical device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0151978 A1 - Document ID: US20250151978A1 - Status: Published application - Kind: A1 - Application number: 18/837,447 - Filed: 2023-02-07 - Published: 2025-05-15 - Earliest claimed: 2022-02-11 - Assignees: Canon U.S.A., Inc. - Applicants: Canon U.S.A., Inc. - Inventors: Takahisa Kato; HuaLei Shelley Zhang; Brian Ninni - Web page: https://patentgrep.com/patent/US20250151978A1 ## CPC - A61B 1/00055: {for alerting the user} - A61B 1/00045: {Display arrangement} - A61B 1/00097: {Sensors} - A61B 1/005: Flexible endoscopes - A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion - A61B 1/2676: {Bronchoscopes} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 2034/105: {Modelling of the patient, e.g. for ligaments or bones} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61M 2025/0166: {Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract A medical apparatus (100) includes a medical device (108) with bending sections and a distal end, at least one imaging device (110) at the distal end, at least one sensor (112), and at least one processor (201) which performs receiving input data input data from user input, the imaging device (110), the sensor (112), or combinations thereof, determining a bending plane and a bending angle of the distal end of the medical device (108), predicting location movement and position of the bending sections based on input data, displaying an image view based on the input data and displaying the predicted location movement and position of the bending sections on the image view. ## Claims ### Claim 1 A medical apparatus (100) comprising: a medical device (108) with at least one bendable section (310) and a distal end (348); at least one imaging device (110) at the distal end (348); at least one sensor (203); and a controller (200) which performs: receiving input data from user input, the imaging device (110), the sensor (203), or combinations thereof; determining a bending plane and a bending angle of the distal end (348) of the medical device (108); predicting location movement and position of the at least one bendable section (310) based on the input data; displaying an image view based on the input data; and displaying the predicted location movement and position of the at least one bendable section (310) on the image view. ### Claim 2 (depends on 1) The medical apparatus (100) according to claim 1, wherein the controller (200) further performs detecting collision of the medical device (108) based on the input data. ### Claim 3 (depends on 1) The medical apparatus (100) according to claim 1, wherein the controller (200) further performs providing a collision warning of the medical device (108) based on the input data. ### Claim 4 (depends on 1) The medical apparatus (100) according to claim 1, wherein the controller (200) further performs limiting a bending angle of the distal end of the medical device to avoid future collisions with an airway wall. ### Claim 5 (depends on 1) The medical apparatus (100) according to claim 1, wherein the medical device (108) is a steerable catheter. ### Claim 6 (depends on 1) The medical apparatus (100) according to claim 1, wherein a rigid tip is at the distal end of the medical device (108). ### Claim 7 (depends on 6) The medical apparatus (100) according to claim 6, wherein the rigid tip is aligned with a normal vector of the at least one bendable section (310). ### Claim 8 (depends on 6) The medical apparatus (100) according to claim 6, wherein the predicted location movement and position of the at least one bendable section (310) is based on an insertion distance and a length of the rigid tip. ### Claim 9 (depends on 6) The medical apparatus (100) according to claim 6, further comprising displaying a constant arc by assuming an insertion distance so that a tip of the at least one bendable section (310) can be projected onto the bending plane wherein the predicted location movement and position of the at least one bendable section (310) is based on an insertion distance and a length of the rigid tip. ### Claim 10 (depends on 9) The medical apparatus (100) according to claim 9, wherein the constant arc is represented by an intersection line on the image view. ### Claim 11 A method for a medical apparatus (100) with a medical device (108) with at least one bendable section (310) and a distal end (348), at least one imaging device (110), and at least one sensor (112), the method comprising: receiving input data from user input, the imaging device (110), the sensor (112), or combinations thereof; determining a bending plane and a bending angle of the distal end of the medical device (108); predicting location movement and position of the at least one bendable section (310) based on the input data; displaying an image view based on the input data; and displaying the predicted location movement and position of the at least one bendable section (310) on the image view. ### Claim 12 (depends on 11) The method according to claim 11, further comprising detecting collision of the medical device (108) based on the input data. ### Claim 13 (depends on 11) The method according to claim 11, further comprising providing a collision warning of the medical device (108) based on the input data. ### Claim 14 (depends on 11) The method according to claim 11, further comprising limiting a bending angle of the distal end (348) of the medical device (108) to avoid future collisions with an airway wall. ### Claim 15 (depends on 11) The method according to claim 11, wherein the medical device (108) is a steerable catheter. ### Claim 16 (depends on 11) The method according to claim 11, wherein a rigid tip is at the distal end (348) of the medical device. ### Claim 17 (depends on 16) The method according to claim 16, wherein the rigid tip is aligned with a normal vector of the at least one distal bendable section (310). ### Claim 18 (depends on 11) The method according to claim 11, wherein the predicted location movement and position of the at least one bendable section (310) is based on an insertion distance and a length of the rigid tip. ### Claim 19 (depends on 11) The method according to claim 11, further comprising displaying a constant arc by assuming an insertion distance so that a tip (348) of the at least one bendable section (310) can be projected onto the bending plane wherein the predicted location movement and position of the at least one bendable section is based on an insertion distance and a length of the rigid tip. ### Claim 20 (depends on 19) The method according to claim 19, wherein the constant arc is represented by an intersection line on the image view. ### Claim 21 A storage medium storing a program for causing a computer to execute a method for a medical apparatus (100) with a medical device (108) with at least one bendable section (310) and a distal end (348), at least one imaging device (110), and at least one sensor (112), the method comprising: receiving input data input data from user input, the imaging device (110), the sensor (112), or combinations thereof; determining a bending plane and a bending angle of the distal end (348) of the medical device (108); predicting location movement and position of the at least one bendable section (310) based on the input data; displaying an image view based on the input data; and displaying the predicted location movement and position of the at least one bendable section (310) on the image view.