公开(公告)号：US12169881B2

公开(公告)日：2024-12-17

申请号：US18073621

申请日：2022-12-02

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Molly Lara Flexman ,  Aleksandra Popovic ,  Ashish Panse

IPC: G06T11/00 ,  A61B34/00 ,  A61B90/00 ,  G09B5/02 ,  G09B19/00 ,  G16H30/20 ,  G16H40/63

Abstract: An augmented reality interventional system which provides contextual overlays (116) to assist or guide a user (101) or enhance the performance of the interventional procedure by the user that uses an interactive medical device (102) to perform the interventional procedure. The system includes a graphic processing module (110) that is configured to generate at least one contextual overlay on an augmented reality display device system (106). The contextual overlays may identify a component (104) or control of the interactive medical device. The contextual overlays may also identify steps of a procedure to be performed by the user and provide instructions for performance of the procedure. The contextual overlays may also identify a specific region of the environment to assist or guide the user or enhance the performance of the interventional procedure by identifying paths or protocols to reduce radiation exposure.

公开(公告)号：US12004825B2

公开(公告)日：2024-06-11

申请号：US16762660

申请日：2018-11-06

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Alexandru Patriciu ,  Aleksandra Popovic

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00 ,  A61F2/24

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B2017/0034 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/3782 ,  A61B2090/3983 ,  A61F2/2427

Abstract: A multi-stage robot (10) comprises a sequential series arrangement of a flexible robot arm (30), a robot platform (40), a snake robot arm (50) and an end-effector (60). In operation, the multi-state robot (10) is introduced through an incision or an anatomical opening into an anatomical region enclosing an anatomical structure, and the snake robot arm (50) and the end-effector (60) are further introduced through an incision or an anatomical opening into the anatomical structure. The robot platform (40) is thereafter attached to the incision or the anatomical opening of the anatomical structure to facilitate an actuation of the snake robot arm (50) relative to the robot platform (40) to thereby target position the end-effector (60) within the anatomical structure. The multi-stage robot (10) may further comprise a robot base at the proximal end of the multi-stage robot (10) and attachable to the incision or the anatomical opening into the anatomical region.

公开(公告)号：US11937883B2

公开(公告)日：2024-03-26

申请号：US17115850

申请日：2020-12-09

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Paul Thienphrapa ,  Torre Michelle Bydlon ,  Prasad Vagdargi ,  Sean Joseph Kyne ,  Aleksandra Popovic

IPC: A61B34/20 ,  A61B1/00

CPC classification number: A61B34/20 ,  A61B1/00006 ,  A61B1/00045 ,  A61B2034/2055

Abstract: Various embodiments of the present disclosure encompass a visual endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a visual guidance controller (130) for controlling of a display one or more guided manipulation anchors (50-52) within the display of the endoscopic view (11) of the anatomical structure. A guided manipulation anchor (50-52) is representative of location marking and/or a motion directive of a guided manipulation of the anatomical structure. The visual guidance controller (130) further controls a display of a hidden feature anchor relative to the display of the endoscopic view (11) of the anatomical structure. The hidden feature anchor (53) being representative of a position (e.g., a location and/or an orientation) of a guided visualization of the hidden feature of the anatomical structure.

公开(公告)号：US11918404B2

公开(公告)日：2024-03-05

申请号：US18134505

申请日：2023-04-13

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Balasundar Iyyavu Raju

IPC: A61B8/12 ,  A61B1/00 ,  A61B5/00 ,  A61B6/00 ,  A61B8/00

CPC classification number: A61B6/542 ,  A61B1/00006 ,  A61B1/000094 ,  A61B5/6843 ,  A61B8/12 ,  A61B8/42 ,  A61B8/543

Abstract: An imaging device positioning system for monitoring an anatomical region (10). The imaging device positioning system employs an imaging device (20) for generating an image (21) of an anatomical region (10). The imaging device positioning system further employs an imaging device controller (30) for controlling a positioning of the imaging device (20) relative to the anatomical region (10). During a generation by the imaging device (20) of the image (21) of the anatomical region (10), the imaging device controller (30) adapts the positioning of the imaging device (20) relative to the anatomical region (10) to a physiological condition of the anatomical region (10) extracted from the image (21) of the anatomical region (10).

公开(公告)号：US11406459B2

公开(公告)日：2022-08-09

申请号：US16628719

申请日：2018-07-05

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Grzegorz Andrzej Toporek ,  Aleksandra Popovic ,  Sean Joseph Kyne

IPC: A61B34/30 ,  A61B8/00 ,  A61B90/50 ,  A61B17/34 ,  A61B34/20

Abstract: A robotic acoustic probe for application with an interventional device (60). The robotic acoustic probe employs an acoustic probe (20) including a imaging platform (21) having a device insertion port (22) defining a device insertion port entry (23) and device insertion port exit (24), and further including an acoustic transducer array (25) are disposed relative the device insertion port exit (24). The robotic acoustic probe further employs a robotic instrument guide (40) including a base (41) mounted to the imaging platform (21) relative to the device insertion port entry (23), and an end-effector (45) coupled to the base (41) and transitionable between a plurality of poses relative to a remote-center-of-motion (49). The end-effector (45) defines an interventional device axis (48) extending through the device insertion port (22), and the remote-center-of-motion (49) is located on the interventional device axis (48) adjacent the device insertion port exit (24).

公开(公告)号：US11346730B2

公开(公告)日：2022-05-31

申请号：US16466414

申请日：2017-12-01

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Torre Michelle Bydlon ,  Ahmet Ekin ,  Paul Thienphrapa ,  Wilhelmus Henrica Gerarda Maria Van Den Boomen ,  Molly Lara Flexman ,  Martinus Bernardus Van Der Mark ,  Aleksandra Popovic

IPC: G01L1/24 ,  A61B34/20 ,  G02B6/02 ,  A61B34/35

Abstract: A system and method for determining the length of a non-shape-sensed interventional device (102) which includes a shape-sensed guidewire (106) that is received in the lumen (103) of the device. A hub (107) is configured to secure a position of the shape-sensed guidewire and interventional device. A registration module (124) is configured to register a position of the distal tip (117) of the non-shape-sensed interventional device to a position of the shape-sensed guidewire. A determination module (126) determines the length of the non-shape-sensed interventional device using a known position of the device in the hub and the position of the distal tip of the device. The system includes a detection module (146) that receives curvature data from the shape-sensed guidewire and is configured to determine the state of the shape-sensed guidewire with respect to an interventional device.

公开(公告)号：US11259876B2

公开(公告)日：2022-03-01

申请号：US15762365

申请日：2016-09-16

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  David Paul Noonan

IPC: A61B34/20 ,  A61B34/32 ,  A61B34/00 ,  A61B34/30 ,  A61B34/10 ,  A61B1/00 ,  A61B1/045 ,  A61B18/02 ,  A61B18/04 ,  A61B6/12 ,  A61B6/00 ,  A61B18/00

Abstract: A robotic surgical system employing a treatment catheter (30) (e.g., a thermoablation catheter or a cyroablation catheter), and an articulated robot (40) including a the linkages for navigating the treatment catheter (30) within an anatomical region. The robotic surgical system further employs a robot controller (41) for controlling a navigation by the articulated robot (40) of the treatment catheter (30) along a intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on a registration between the articulated robot (40) and a preoperative image (21a) illustrative of the planned treatment path within the anatomical region relative to the anatomical structure.

公开(公告)号：US10772684B2

公开(公告)日：2020-09-15

申请号：US15116929

申请日：2015-01-28

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Haytham Elhawary

IPC: A61B34/10 ,  A61B1/00 ,  A61B90/00 ,  G06T7/30 ,  A61B34/30 ,  H04N5/232 ,  H04N5/265 ,  G06T17/00

Abstract: A system for visualizing an anatomical target includes an imaging device having a field of view for imaging a portion of a region to be imaged. A three-dimensional model is generated from pre-operative or intra-operative images and includes images of an internal volume in the region to be imaged not visible in the images from the imaging device. An image processing module is configured to receive images from the imaging device such that field of view images of the imaging device are stitched together to generate a composite image of the region to be imaged. The composite image is registered to real-time images and the three-dimensional model. An internal view module is configured to generate for display an internal view of the internal volume at one or more positions along the composite image.

公开(公告)号：US10702346B2

公开(公告)日：2020-07-07

申请号：US15324001

申请日：2015-07-14

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Aryeh Leib Reinstein ,  David Paul Noonan

IPC: A61B34/30 ,  A61B34/20 ,  A61B1/04 ,  A61B6/12 ,  A61B90/00

Abstract: A workstation for calibrating a robotic instrument (42) has a distal tip (46) within an X-ray image space (35) of an X-ray modality (32). The workstation employs a calibration controller (50) for calibrating a remote center of motion (RCM) length of the robotic instrument (42) responsive to X-ray images (36) of different poses of the distal tip (46) of the robotic instrument (42) within the X-ray image space (35), and further employs a robotic instrument controller (40) for controlling a guidance of the robotic instrument (42) within the X-ray image space (35) from the RCM calibration. The robotic instrument (42) may include an endoscope whereby the calibration controller (50) is further employed to calibrate a focal length of the robotic instrument (42) responsive to the X-ray images (36) and one or more endoscope image(s) (48) of the X-ray image space (35) for controlling the guidance of the robotic instrument (42) within the X-ray image space (35) from the RCM/focal length calibrations.

公开(公告)号：US10646289B2

公开(公告)日：2020-05-12

申请号：US16065928

申请日：2016-12-27

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  David Paul Noonan

IPC: G06F19/00 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  G06F3/01

Abstract: A control unit is provided for a surgical robot system, including a robot configured to operate an end-effector in a surgical site of a patient. The control unit includes a processor configured to transmit acquired live images of a patient, received from an image acquisition device, to a virtual reality (VR) device for display; to receive input data from the VR device, including tracking data from a VR tracking system of the VR device based on a user's response to the live images displayed on a viewer of the display unit of the VR device; to process the input data received from the VR device to determine a target in the patient; to determine a path for the end-effector to reach the target based upon the live images and the processed input data; and to transmit control signals to cause the robot to guide the end-effector to the target via the determined path.