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公开(公告)号：US11648071B2
公开(公告)日：2023-05-16
申请号：US16762630
申请日：2018-11-12
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Paul Thienphrapa , Molly Lara Flexman , Torre Michelle Bydlon , Aleksandra Popovic , Marcin Arkadiusz Balicki , Grzegorz Andrzej Toporek , Alexandru Patriciu
CPC classification number: A61B34/32 , B25J9/1664 , B25J9/1694 , A61B6/481 , A61B2034/107 , A61B2034/2065 , A61B2090/376 , A61B2090/3764
Abstract: An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82). Upon a detection by the interventional controller (70) of an occurrence of the interventional controller (70) navigating 10 proximately to a critical anatomical location within the anatomical roadmap (82), the interventional controller (70) pauses the navigation of the interventional robot (30) within anatomical region and autonomously controls an operation of the interventional imaging modality (10) for generating an updated anatomical roadmap (82) of the anatomical region whereby the interventional controller (70) navigates the updated 15 anatomical roadmap (82) of the anatomical region in accordance with the interventional plan to thereby control a resumed navigation of the interventional robot (30) within the anatomical region.
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公开(公告)号：US11602403B2
公开(公告)日：2023-03-14
申请号：US16762333
申请日：2018-11-13
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Paul Thienphrapa , Molly Lara Flexman , Torre Michelle Bydlon , Aleksandra Popovic , Marcin Arkadiusz Balicki , Grzegorz Andrzej Toporek , Alexandru Patriciu
Abstract: A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.
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公开(公告)号：US11564768B2
公开(公告)日：2023-01-31
申请号：US16497963
申请日：2018-04-02
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Grzegorz Andrzej Toporek , Aleksandra Popovic
Abstract: A force sensed surface scanning system (20) employs a scanning robot (41) and a surface scanning controller (50). The scanning robot (41) includes a surface scanning end-effector (43) for generating force sensing data informative of a contact force applied by the surface scanning end-effector (43) to an anatomical organ. In operation, the surface scanning controller (50) controls a surface scanning of the anatomical organ by the surface scanning end-effector (43) including the surface scanning end-effector (43) generating the force sensing data, and further constructs an intraoperative volume model of the anatomical organ responsive to the force sensing data generated by the surface scanning end-effector (43) indicating a defined surface deformation offset of the anatomical organ.
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公开(公告)号：US11564748B2
公开(公告)日：2023-01-31
申请号：US16066000
申请日：2016-12-27
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Paul Thienphrapa , Aleksandra Popovic
IPC: A61B5/05 , A61B34/20 , G06T7/73 , G06V10/75 , A61B1/00 , A61B1/04 , G06T19/00 , A61B90/00 , A61B90/30
Abstract: Registration of a surgical image acquisition device (e.g. an endoscope) using preoperative and live contour signatures of an anatomical object is described. A control unit includes a processor configured to compare the real-time contour signature to the database of preoperative contour signatures of the anatomical object to generate a group of potential contour signature matches for selection of a final contour match. Registration of an image acquisition device to the surgical site is realized based upon an orientation corresponding to the selected final contour signature match.
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公开(公告)号：US11278182B2
公开(公告)日：2022-03-22
申请号：US14402138
申请日：2013-06-20
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aleksandra Popovic , Haytham Elhawary
IPC: A61B1/00 , A61B1/313 , A61B34/30 , A61B1/005 , A61B1/04 , A61B5/00 , A61F2/06 , G06T11/60 , A61B90/00
Abstract: A system for visualizing an anatomical target includes a scope for internal imaging having a field of view less than a region to be imaged. A planning module is configured to receive video from the scope such that field of view images of the scope are stitched together to generate a composite image of the region to be imaged. An image guidance module is configured to move the scope along the anatomical target during a procedure such that an image generated in the field of view of the scope is displayed as live video overlaid on a field of the composite image.
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Patent Agency Ranking
公开(公告)号：US11266473B2
公开(公告)日：2022-03-08
申请号：US16357792
申请日：2019-03-19
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aleksandra Popovic , David Paul Noonan
IPC: A61B1/31 , A61B34/30 , A61B90/00 , A61B1/00 , A61B34/37 , A61B8/08 , A61B8/12 , A61M25/01 , A61M25/09 , A61B1/005 , A61B17/00
Abstract: A robotic actuation system for sensorless force control of an interventional tool (14) having cable driven distal end (e.g., a probe, a steerable catheter, a guidewire and a colonoscope). The system employs a robotic actuator (30) having one or more motorized gears operate the cable drive of the interventional tool (14). The system further employs a robotic workstation (20) to generate motor commands for simultaneous actuation position and contact force control of the interventional tool (14). The motor commands are a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool (14).
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公开(公告)号：US11213364B2
公开(公告)日：2022-01-04
申请号：US16467080
申请日：2017-12-05
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aleksandra Popovic
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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公开(公告)号：US11083529B2
公开(公告)日：2021-08-10
申请号：US15112709
申请日：2015-01-14
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aleksandra Popovic , Aryeh Leib Reinstein
Abstract: A robot guiding system employing an endoscope (12), a robot (11), a robot controller (21), an endoscope controller (22) and an image integration module (24). In operation, the robot controller (21) command the robot (11) to move the endoscope (12) within the anatomical region, and the endoscope controller (22) generates an endoscopic video display (15) of an intra-operative endoscopic image of the anatomical region generated by the endoscope (12). As the endoscope (12) is stationary within the anatomical region, the image integration module (24) registers a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region. As the endoscope (12) is moving within the anatomical region subsequent to the image registration, the image integration module (24) calibrates a motion of the robot (11) relative to the endoscope (12) followed by tracking a motion of the endoscope (12) within the anatomical region.
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公开(公告)号：US10945796B2
公开(公告)日：2021-03-16
申请号：US15117001
申请日：2015-01-29
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aleksandra Popovic , David Paul Noonan
Abstract: A robot guiding system employing a robot unit (10) including an endoscope (12) and a robot (11), and a control unit (20) including an endoscopic image controller (22) and a robot controller (21). In operation, the endoscope (12) generate an endoscopic image of an anatomical region as the robot (11) move the endoscope (12) within the anatomical region in response to robot actuator commands. The endoscopic image controller (22) controls a display of the endoscopic image (14) of the anatomical region and generates endoscope pose commands to maintain a visibility of two or more interventional instruments within the display of the endoscopic image (14) relative to a center of the endoscopic image (14). The robot controller (21) generates the robotic actuator commands responsive to the endoscope pose commands.
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公开(公告)号：US10813708B2
公开(公告)日：2020-10-27
申请号：US15535281
申请日：2015-12-08
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Aryeh Leib Reinstein , Aleksandra Popovic , David Paul Noonan
Abstract: A replica control tool (70) for remotely controlling a control handle (42) of an interventional tool (e.g., a probe, a catheter and a flexible scope) is robotically controlled by a robotic actuator (50). The replica control tool (70) employs a replica control handle (71) is substantially a replica of a structural configuration of the control handle (42) of the interventional tool. A control input device (72) (e.g., a joystick or a trackball) is movable relative to the replica control handle (71). The replica control tool (70) further employs a robotic actuator controller (75) for remotely controlling the robotic actuator (50) in response to any movement of the control input device (72) relative to the replica control handle. The replica control tool (70) may further employ an electromechanical device (73) (e.g., an accelerometer) co-rotatable with the replica control handle (71) whereby the controller (75) remotely controls the robotic actuator (50) in response to a rotation of the electromechanical device (73).
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