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    System for performing intraluminal coronary and method of operation thereof
    22.
    发明授权
    System for performing intraluminal coronary and method of operation thereof 有权

    公开(公告)号：US10888307B2

    公开(公告)日：2021-01-12

    申请号：US15119077

    申请日：2015-02-26

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： Aleksandra Popovic ,  Ralf Seip ,  David Paul Noonan

    IPC: A61B17/00 ,  A61B17/11 ,  A61B17/12 ,  A61B18/24 ,  A61N7/02 ,  A61B17/22 ,  A61B34/20 ,  A61B17/32 ,  A61B17/30

    Abstract: A method of performing a coronary bypass procedure is performed by a flexible apparatus controlled by at least one controller, the method may include acts of: percutaneously situating the flexible apparatus into a first artery coupled to connective tissue of a chest wall; transluminally detaching at least a portion of the first artery from the connective tissue by applying ultrasound signals of a first type emitted by at least one transducer of the flexible apparatus; steering at least a portion of the detached portion first artery from a current location to a bypass location at a target artery by applying a force transmitted through the flexible apparatus situated within the first artery; and coupling, by the flexible apparatus situated within the first artery, the first artery to the target artery at the bypass location to establish flow communication between the first artery and the target artery.

    Controller definition of a robotic remote center of motion
    23.
    发明授权
    Controller definition of a robotic remote center of motion 有权

    公开(公告)号：US10675105B2

    公开(公告)日：2020-06-09

    申请号：US15918648

    申请日：2018-03-12

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： Haytham Elhawary ,  Aleksandra Popovic

    IPC: G06F19/00 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00 ,  B25J9/16

    Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

    Robotic actuator for transeopagel echocardiography probe
    24.
    发明授权
    Robotic actuator for transeopagel echocardiography probe 有权

    公开(公告)号：US10463343B2

    公开(公告)日：2019-11-05

    申请号：US15112702

    申请日：2015-01-16

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： David Paul Noonan ,  Aleksandra Popovic

    IPC: A61B34/00 ,  A61B8/00 ,  A61B1/00 ,  A61B8/08 ,  A61B8/12 ,  A61B34/30 ,  A61B90/00 ,  A61B1/005

    Abstract: A robotic actuator (30) for controlling one or actuation dials of an interventional tool handle (41) (e.g., a handle of a probe). The robotic actuator (30) employs a coupling of a handle base (34) and a handle cover (33) to define a actuation chamber for housing the actuation dial(s) of the interventional tool handle (41), and one or more motorized gear(s) (31, 32) within the actuation chamber operable to engage the actuation dial(s) of the interventional tool handle (41) within the actuation chamber. In operation, a robotic workstation (20) generates motor commands for controlling the actuation dial(s) of the interventional tool handle (41), and the motorized gear(s) (31, 32) are operably connected to the robotic workstation (20) to control the actuation dial(s) of the interventional tool handle (41) responsive to the motor commands generated by the robotic workstation (20). The robotic actuator (30) may further employ an actuator platform (38) for controlling lateral and/or rotational motion of the interventional tool handle (41).

    Invisible bifurcation detection within vessel tree images
    27.
    发明授权
    Invisible bifurcation detection within vessel tree images 有权
    血管树图像中的隐形分叉检测

    公开(公告)号：US09280823B2

    公开(公告)日：2016-03-08

    申请号：US14376318

    申请日：2013-02-04

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： Aleksandra Popovic ,  Haytham Elhawary

    IPC: G06K9/00 ,  G06T7/00 ,  A61B1/00

    CPC classification number: G06T7/003 ,  A61B1/00009 ,  A61B1/0005 ,  G06T7/337 ,  G06T2200/04 ,  G06T2207/10068 ,  G06T2207/10072 ,  G06T2207/20072 ,  G06T2207/30101

    Abstract: An image registration system an endoscope (12) and an endoscope controller (22). In operation, the endoscope (12) generates an intra-operative endoscopic image (14) of a vessel tree within an anatomical region including a plurality of branches of the vessel tree visible within the intra-operative endoscopic image (14) as an indication of a furcation of the vessel tree invisible within the intra-operative endoscopic image (14). The endoscope controller (22) image registers the intra-operative operative endoscopic image (14) of the vessel tree to a pre-operative three-dimensional image (44) of the vessel tree. The image registration includes an image matching of a graphical representation of the furcation of the vessel tree as indicated by the branches of the vessel tree visible within the intra-operative endoscopic image (14) of the vessel tree to a graphical representation of the furcation of the vessel tree visible within the pre-operative three-dimensional image (44) of the vessel tree.

    Abstract translation: 图像配准系统，内窥镜（12）和内窥镜控制器（22）。 在操作中，内窥镜（12）在包括在术中内窥镜图像（14）内可见的血管树的多个分支的解剖区域内产生血管树的手术内窥镜图像（14），作为指示 术中内窥镜图像中不可见的血管树的分叉（14）。 内窥镜控制器（22）将血管树的手术中的内窥镜图像（14）登记到血管树的术前三维图像（44）。 图像配准包括由血管树的分支在血管树的术中内窥镜图像（14）中可见的血管树的分叉的图形表示的图像匹配，到血管树的分叉的图形表示 血管树在血管树的术前三维图像（44）内可见。

    SURGICAL PORT LOCALIZATION
    28.
    发明申请
    SURGICAL PORT LOCALIZATION 审中-公开
    外科口岸本地化

    公开(公告)号：US20140362199A1

    公开(公告)日：2014-12-11

    申请号：US14362113

    申请日：2012-11-12

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： Aleksandra Popovic ,  Haytham Elhawary ,  Raymond Chan ,  Robert Manzke

    IPC: A61B1/04 ,  A61B1/00

    Abstract: A method, device, and system are provided for placing a port (12, 22, 32) for a surgical tool (20, 30) relative to real-time anatomical data. The method comprises: placing an endoscope (10) in a standard port (12); determining real-time anatomical data from an image from the endoscope; using a port localization apparatus (210) to identify an optimal location for an instrument port relative to the image from the endoscope; and creating an instrument port at the identified location.

    Abstract translation: 提供了一种用于相对于实时解剖数据放置用于外科手术工具（20,30）的端口（12,22,32）的方法，装置和系统。 该方法包括：将内窥镜（10）放置在标准端口（12）中; 从来自内窥镜的图像确定实时解剖数据; 使用端口定位设备（210）来识别仪器端口相对于来自内窥镜的图像的最佳位置; 并在识别的位置创建仪器端口。

    Image guided motion scaling for robot control
    29.
    发明授权
    Image guided motion scaling for robot control 有权

    公开(公告)号：US12171520B2

    公开(公告)日：2024-12-24

    申请号：US17548507

    申请日：2021-12-11

    Applicant: KONINKLIJKE PHILIPS N.V.

    Inventor： Aleksandra Popovic

    IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16

    Abstract: A image guided motion scaled surgical robotic system (160) employs a surgical robotic arm (168) and an image guided motion scaled surgical controller (162). In operation, responsive to an input signal indicative of a user defined motion of the surgical robotic arm (168) within an anatomical region, the image guided motion scaled surgical controller (162) controls an actuated motion of the surgical robotic arm (168) within the anatomical region based on a map (164) of a motion scale delineated within an imaging of the anatomical region.

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