公开(公告)号：US10687909B2

公开(公告)日：2020-06-23

申请号：US15109672

申请日：2014-12-11

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： David Paul Noonan ,  Molly Lara Flexman ,  Aleksandra Popovic

IPC: A61B34/32 ,  A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B8/12

Abstract: A system for tracking a device image includes an intraoperative imaging system (110) having a probe (146) configured to generate an image for a region. A shape sensing enabled instrument (102) is configured to have a portion of the shape sensing enabled instrument positionable relative to the region. The shape sensing enabled instrument has a coordinate system registered with a coordinate system of the intraoperative imaging system. A robot is configured to coordinate movement between the probe and the shape sensing enabled instrument such that movement of the shape sensing enabled instrument relative to the region causes the probe to be moved to maintain the shape sensing enabled instrument within the image.

公开(公告)号：US10453174B2

公开(公告)日：2019-10-22

申请号：US14353776

申请日：2012-10-19

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Haytham Elhawary ,  Christopher Stephen Hall

IPC: A61B90/00 ,  G06T7/00 ,  G06T3/00 ,  A61B1/00 ,  G06T19/00 ,  A61B34/30

Abstract: An image registration system employs an endoscope and an endoscope controller. In operation, the endoscope generates an intra-operative endoscopic image of a vessel tree (e.g., an arterial tree or a venous tree) within an anatomical region, and the endoscope controller image registers the intra-operative endoscopic image of the vessel tree to a pre-operative three-dimensional image of the vessel tree within the anatomical region. The image registration includes an image matching of a graphical representation of each furcation of the vessel tree within the intra-operative endoscopic image of the vessel tree to a graphical representation of each furcation of the vessel tree within the pre-operative three-dimensional image of the vessel tree.

公开(公告)号：US10414054B2

公开(公告)日：2019-09-17

申请号：US14780015

申请日：2014-03-25

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Sitharthan Kamalakaran ,  Douglas Allen Stanton

IPC: B25J15/02 ,  H01F7/20 ,  A61B17/29 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: A force feedback gripping device employs a mechanical gripper (23), an electromagnetic actuator (22) and a force feedback controller (21). The mechanical gripper (23) is operable to be actuated to one of a plurality of gripping poses for gripping an object. The electromagnetic actuator (22) includes a magnetorheological elastomer (“MRE”), wherein the MRE is operable to be transitioned between a plurality of shapes dependent upon a variable strength of a magnetic field applied to the MRE, and wherein each shape of the MRE actuates the mechanical gripper (23) to one of the gripping poses. The force feedback controller (21) is operable to control the variable strength of the magnetic field applied to the MRE based on an estimation of a gripping force of the mechanical gripper (23) and on a sensing of a load force of the object responsive to the gripping force of the mechanical gripper (23).

公开(公告)号：US10402990B2

公开(公告)日：2019-09-03

申请号：US15127473

申请日：2015-03-11

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  John Allen Bracken ,  David Paul Noonan

IPC: A61B5/00 ,  A61B6/00 ,  G06T7/30 ,  G06T19/00 ,  A61B5/04 ,  A61B5/0402 ,  G06F3/048 ,  G06T7/00

Abstract: A medical viewing system (10) determines a viewing plane and provides medical images with the determined viewing plane. The medical viewing system (10) includes an X-ray image acquisition device (1), an echocardiographic image acquisition device (2) and a processing unit (3). The X-ray image acquisition device (1) is adapted to acquire an X-ray image in an X-ray imaging plane. The echocardiographic image acquisition device (2) is adapted to acquire a plurality of echocardiographic images. The processing unit (3) is adapted for a determination of an indicator in the X-ray image indicating a viewing plane for an echocardiographic image. The indicator may be an indicator line (41) in the X-ray image indicating the viewing plane perpendicular to the X-ray imaging plane. The processing unit (3) is further adapted for registering or fusing the X-ray image and the plurality of echocardiographic images together, and for then providing an echocardiographic image in the identified viewing plane. The identified viewing plane may be related to specific plane of a device (valve clips, plugs. . .) or of a specific anatomical structure.

公开(公告)号：US20190047151A1

公开(公告)日：2019-02-14

申请号：US15763745

申请日：2016-09-14

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Johannes Petrus WITHAGEN ,  David Paul NOONAN ,  Jurgen Jean Louis HOPPENBROUWERS

IPC: B25J9/16 ,  B25J11/00 ,  A61B6/00 ,  A61B34/30 ,  G05B19/4155

Abstract: A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).

公开(公告)号：US10182704B2

公开(公告)日：2019-01-22

申请号：US15483615

申请日：2017-04-10

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic

IPC: A61B1/04 ,  A61B1/06 ,  A61B1/00 ,  A61B19/00 ,  A61B1/313 ,  G06T7/33 ,  G06T7/73 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

Abstract: A robot guiding system employs a robot unit (10) and a control unit (20). The robot unit (10) includes an endoscope (12) for generating an intra-operative endoscopic image (14) of a blood vessel tree within an anatomical region, and a robot (11) for moving the endoscope (12) within the anatomical region. The control unit (20) includes an endoscope controller (22) for generating an endoscopic path within the anatomical region, wherein the endoscopic path is derived from a matching of a graphical representation of the intra-operative endoscopic image (14) of the blood vessel tree to a graphical representation of a pre-operative three-dimensional image (44) of the blood vessel tree. The control unit (20) further includes a robot controller (21) for commanding the robot (11) to move the endoscope (12) within the anatomical region in accordance with the endoscopic path.

公开(公告)号：US09750575B2

公开(公告)日：2017-09-05

申请号：US14407972

申请日：2013-06-20

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Haytham Elhawary ,  Aleksandra Popovic ,  Willem Verkruijsse

IPC: A61B5/00 ,  A61B19/00 ,  A61B5/0295 ,  A61B1/00 ,  A61B5/06 ,  A61B5/026 ,  A61B5/1459 ,  A61B34/30

CPC classification number: A61B34/30 ,  A61B1/0005 ,  A61B5/0084 ,  A61B5/0261 ,  A61B5/0295 ,  A61B5/061 ,  A61B5/1459 ,  A61B5/4851 ,  A61B5/7285 ,  A61B2034/301

Abstract: A system for evaluating patency includes a light sensor (128) positionable relative to a blood vessel to receive light from the blood vessel and convert the light into an image signal. A photo-plethysmography (PPG) interpretation module (115) is configured to receive the image signal and output pixel values in an image representing PPG information. An image generation module (148) is coupled to the PPG interpretation module to receive the pixel values and generate a PPG map to be output to a display for analysis.

公开(公告)号：US09603666B2

公开(公告)日：2017-03-28

申请号：US14418593

申请日：2013-08-02

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Haytham Elhawary ,  Aleksandra Popovic

IPC: B60R22/00 ,  A61B19/00

CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/00163 ,  A61B34/76 ,  A61B90/06 ,  A61B2034/301 ,  A61B2090/061 ,  A61B2090/065 ,  A61B2090/066 ,  B25J9/1689 ,  G05B2219/45118

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).

公开(公告)号：US09205564B2

公开(公告)日：2015-12-08

申请号：US14574637

申请日：2014-12-18

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Aleksandra Popovic ,  Paul Thienphrapa

IPC: H04N7/18 ,  B25J9/16 ,  A61B19/00 ,  G06T7/20

CPC classification number: B25J9/1697 ,  A61B34/20 ,  A61B34/30 ,  A61B90/361 ,  G06T7/246 ,  G06T2207/10068 ,  Y10S901/15 ,  Y10S901/47

Abstract: A robotic control system and method include a camera having an optical view and a robot having an end-effector and one or more joints for maneuvering end-effector. A digital video frame is acquired illustrating an image as optically viewed by the camera, and a visual servoing is executed for controlling a pose of end-effector relative to an image feature within the digital video frame. The visual servoing involves an identification of a tracking vector within an image coordinate system of the digital video frame extending from a tracking point to a target point associated with the image feature, a mapping of the tracking vector within a configuration space constructed from a robotic coordinate system associated with the end-effector, and a derivation of a pose of the end-effector within the robotic coordinate system from the mapping of the tracking vector within the configuration space.

Abstract translation: 机器人控制系统和方法包括具有光学视图的照相机和具有末端执行器的机器人和用于操纵末端执行器的一个或多个关节。 获取数字视频帧，其示出由照相机光学观看的图像，并且执行视觉伺服以控制末端效应器相对于数字视频帧内的图像特征的姿态。 视觉伺服涉及从跟踪点延伸到与图像特征相关联的目标点的数字视频帧的图像坐标系中的跟踪矢量的识别，跟踪矢量在由机器人坐标构成的配置空间内的映射 与末端执行器相关联的系统，以及从配置空间内的跟踪矢量的映射来推导机器人坐标系中的末端执行器的姿态。

公开(公告)号：US20150202015A1

公开(公告)日：2015-07-23

申请号：US14418593

申请日：2013-08-02

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Haytham Elhawary ,  Aleksandra Popovic

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/00163 ,  A61B34/76 ,  A61B90/06 ,  A61B2034/301 ,  A61B2090/061 ,  A61B2090/065 ,  A61B2090/066 ,  B25J9/1689 ,  G05B2219/45118

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).

Abstract translation: 机器人手术系统采用外科器械（20），机器人（40），用于相对于机器人（40）的坐标系（42）内的解剖区域（10）导航外科器械（20），机器人 控制器（43），用于基于所述机器人（40）的坐标系（42）内的物理位置来定义所述机器人（40）的坐标系（42）内的所述外科器械（20）的球形旋转的远程运动中心 （12）的至少一部分（40）进入解剖区域（10）。 机器人控制器（43）使用远程旋转中心的定义来命令机器人（40）将外科器械（20）的远程运动中心与端口（12）对准到解剖区域（10） ）将所述外科器械（20）相对于所述端口（12）球形旋转到所述解剖区域（10）中。