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    OPTICAL SHAPE SENSING WITH A PLURALITY OF OPTICAL FIBERS
    2.
    发明申请
    OPTICAL SHAPE SENSING WITH A PLURALITY OF OPTICAL FIBERS 有权
    具有大量光学纤维的光学形状感测

    公开(公告)号：US20160102969A1

    公开(公告)日：2016-04-14

    申请号：US14895275

    申请日：2014-06-27

    申请人： KONINKLIJKE PHILIPS N.V.

    发明人： MARCO VERSTEGE ,  SANDER HANS DENISSEN ,  BHARAT RAMACHANDRAN

    IPC分类号： G01B11/24

    CPC分类号： G01B11/24 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/2061 ,  G01B11/18

    摘要： An optical shape sensing system and method with at least two optical fibers (OSF1, OSF2) both comprising optical shape sensing elements. A processor (P) is arranged to register a coordinate system indicative of a position of one of the optical fibers (OSF1) in space, and to register a position (R2) of the other optical fiber (OSF2) in relation to this coordinate system. An optical console system (C, C1, C2) serves to interrogate the optical shape sensing elements in both optical fibers (OSF1, OSF2), and to accordingly determine a measure of a three-dimensional shape (I) of both optical fibers (OSF1, OSF2), based on the registered position (R2) of the second optical fiber (OSF2) in relation to the coordinate system. This provide the possibility of providing 3D optical shape sensing of the length of both optical fibers (OSF1, OSF2), thus allowing 3D shape reconstruction of e.g. long medical devices with lengths of several meters. More than two shape sensing optical fibers, e.g. incorporated in separate devices, can be registered in this manner in a hierarchical data structure, thus allowing shape sensing of very long instruments.

    摘要翻译： 具有至少两个光纤（OSF1，OSF2）的光学形状感测系统和方法都包括光学形状检测元件。 处理器（P）被配置为在空间上登记指示光纤（OSF1）之一的位置的坐标系，并且相对于该坐标系登记另一光纤（OSF2）的位置（R2） 。 光学控制台系统（C，C1，C2）用于询问两个光纤（OSF1，OSF2）中的光学形状检测元件，从而相应地确定两根光纤（OSF1）的三维形状（I） ，OSF2），基于第二光纤（OSF2）相对于坐标系的登记位置（R2）。 这提供了提供对光纤（OSF1，OSF2）的长度进行三维光学形状检测的可能性，从而允许例如三维形状重建。 长达几米长的医疗设备。 两个以上的形状感测光纤，例如， 结合在分开的装置中，可以以这种方式以分级数据结构登记，从而允许非常长的乐器的形状感测。

    DEVICE TRACKING USING LONGITUDINAL ENCODING
    3.
    发明申请
    DEVICE TRACKING USING LONGITUDINAL ENCODING 审中-公开

    公开(公告)号：US20160228200A1

    公开(公告)日：2016-08-11

    申请号：US15025607

    申请日：2014-09-24

    申请人： KONINKLIJKE PHILIPS N.V.

    发明人： SANDER HANS DENISSEN ,  MARCO VERSTEGE ,  DIRK DIJKKAMP ,  MARCELLINUS PETRUS MARIA CNOOPS

    IPC分类号： A61B34/20 ,  G01B11/24

    CPC分类号： A61B34/20 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2562/0266 ,  G01B11/18 ,  G01B11/24

    摘要： A method for reconstructing 3D shape of a longitudinal device using an optical fiber with optical shape sensing (OSS) properties, e.g. Bragg gratings. By attaching the optical fiber to the longitudinal device, such that the optical fiber follows its 3D shape upon bending, known OSS techniques can be applied to reconstruct 3D shape of the optical fiber, and thus also the longitudinal device, e.g. a medical catheter. E.g. the optical fiber, e.g. placed in a guide wire, can be inserted in a lumen of the longitudinal device. Hereby, one OSS system can be used for 3D tracking a plurality of non-shape sensed catheters or other longitudinal devices. In case the longitudinal device is longer than the optical fiber, the position and shape of the remaining part of the longitudinal device may be estimated and visualized to a user, e.g. based on a known length of the longitudinal device, and based on an orientation of an end point of the optical fiber, e.g. using knowledge about the stiffness or other properties of the longitudinal device.

    ROBOTIC SYSTEM
    5.
    发明申请
    ROBOTIC SYSTEM 有权
    机器人系统

    公开(公告)号：US20160184038A1

    公开(公告)日：2016-06-30

    申请号：US14911741

    申请日：2014-08-21

    申请人： KONINKLIJKE PHILIPS N.V.

    发明人： SANDER HANS DENISSEN

    IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B34/32

    CPC分类号： A61B34/30 ,  A61B34/32 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3782 ,  B25J9/1633 ,  G05B2219/40074 ,  G05B2219/40418 ,  G05B2219/45118 ,  Y10S901/02 ,  Y10S901/09

    摘要： The invention relates to a robotic system for moving a shapeable instrument like a shapeable catheter within an object like a person. The system (1) comprises a robotic device (2, 3) for modifying the shape of the instrument (2) and moving the instrument within the object (7) and a control unit (4) for controlling the robotic device based on structure information like a roadmap, a target position and shape and an actual position and shape such that the instrument is moved and the shape of the instrument is modified from the actual position and shape to the target position and shape. Since the control unit considers structure information while controlling the robotic device, the navigation of the instrument can be automatically performed under consideration of knowledge about regions within the object, through which the instrument is navigatable. The navigation may therefore be performed without or with few user interactions only.

    摘要翻译： 本发明涉及一种机器人系统，用于像可以像个人一样在像物体之类的可塑导管中移动可成型的器械。 系统（1）包括用于修改仪器（2）的形状并移动物体（7）内的仪器的机器人装置（2,3）和用于基于结构信息控制机器人装置的控制单元（4） 像路线图，目标位置和形状以及实际位置和形状，使得仪器被移动并且仪器的形状从实际位置和形状改变为目标位置和形状。 由于控制单元在控制机器人装置的同时考虑结构信息，所以可以在考虑对象内的区域的知识的情况下自动执行仪器的导航，通过该知识可以导航仪器。 因此，导航可以在没有或仅有很少的用户交互的情况下执行。