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    Robotic instrument systems and methods utilizing optical fiber sensors
    1.
    发明公开
    Robotic instrument systems and methods utilizing optical fiber sensors 审中-公开
    机器人仪表系统和Verfahren mit Faseroptechem传感器

    公开(公告)号：EP2626006A3

    公开(公告)日：2017-02-15

    申请号：EP13151246.9

    申请日：2008-08-14

    申请人： Koninklijke Philips N.V.

    发明人： Ramamurthy, Bhaskar, S. ,  Tanner, Neal, A. ,  Younge, Robert G. ,  Schlesinger, Randall, L.

    IPC分类号： A61B5/06 ,  A61B5/00 ,  A61B34/30 ,  A61B34/20 ,  A61B6/12 ,  A61B34/00 ,  A61B34/37 ,  A61B90/96 ,  A61B90/98 ,  A61B90/00 ,  G01B11/16 ,  G01L1/24 ,  A61M25/01

    摘要： The present application is directed to a system for calibrating one or more optical sensors associated with an elongate instrument body of an elongate instrument, the system comprising: a calibration fixture configured to position the elongate instrument body in a known geometric configuration; and a controller configured to: (i) determine a sensed geometric configuration based on signals received from the one or more optical sensor while the elongate instrument body positioned in the calibration fixture is in the known geometric configuration, and (ii) compare the sensed geometric configuration with the known geometric configuration. Further, the present application is directed to a corresponding method for calibrating one or more optical sensors associated with an elongate instrument body of an elongate instrument, the method comprising the following steps: positioning, using a calibration fixture, the elongate instrument body in a known geometric configuration; determining, using a processor, a sensed geometric configuration based on signals received from the one or more optical sensors while the elongate instrument body positioned in the calibration fixture is in the known geometric configuration; and comparing, using the processor, the sensed geometric configuration with the known geometric configuration.

    摘要翻译： 本申请涉及一种医疗系统，包括：细长仪器，光学传感器系统，其可操作地耦合到细长仪器并且被配置为提供指示细长仪器的至少一部分的空间位置的定位数据，以及配置 至少部分地基于将来自定位数据的细长仪器的实际位置与从细长仪器的运动学模型导出的仪器的投影位置的比较来控制细长仪器的运动。 此外，本申请涉及用于控制细长仪器的运动的相应方法，包括以下步骤：将光学传感器系统耦合到细长仪器; 提供使用所述光学传感器系统的指示所述细长仪器的至少一部分的空间位置的定位数据; 将使用处理器的细长器械的实际位置从定位数据导出到从细长仪器的运动学模型导出的仪器的投影位置; 以及至少部分地基于所述比较来控制使用控制器所述细长仪器的运动。

    Robotic instrument systems and methods utilizing optical fiber sensors
    6.
    发明公开
    Robotic instrument systems and methods utilizing optical fiber sensors 审中-公开
    利用光纤传感器的机器人仪器系统和方法

    公开(公告)号：EP2626028A3

    公开(公告)日：2017-02-15

    申请号：EP13151247.7

    申请日：2008-08-14

    申请人： Koninklijke Philips N.V.

    发明人： Ramamurthy, Bhaskar, S. ,  Tanner, Neal, A. ,  Younge, Robert G. ,  Schlesinger, Randall, L.

    IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B5/06 ,  G01L1/24 ,  G01B11/16 ,  A61M25/01 ,  A61B90/00 ,  A61B5/00 ,  A61B6/12 ,  A61B34/37 ,  A61B90/96 ,  A61B90/98

    摘要： The present application is directed to a medical instrument system, comprising: an elongate instrument; a first optical sensor coupled to the elongate instrument; a second optical sensor coupled to the elongate instrument in a known geometric relationship to the first optical sensor; and a controller operatively coupled to the first and second optical sensors and configured to conduct an error analysis by comparing signals received from the first and second optical sensors. Further, the present application is directed to a corresponding method for determining shape and/or position data of an elongate instrument, comprising: coupling a first optical sensor to the elongate instrument; coupling a second optical sensor to the elongate instrument in a known geometric relationship to the first optical sensor; coupling the first and second optical sensors to a controller; and conducting, using the controller, an error analysis by comparing signals received from the first and second optical sensors.

    摘要翻译： 本申请涉及医疗器械系统，其包括：细长器械; 耦合到细长器械的第一光学传感器; 第二光学传感器，其以与第一光学传感器已知的几何关系联接到细长仪器; 以及控制器，可操作地耦合到第一和第二光学传感器，并被配置为通过比较从第一和第二光学传感器接收的信号来进行误差分析。 此外，本申请涉及用于确定细长器械的形状和/或位置数据的相应方法，包括：将第一光学传感器联接到细长器械; 以与第一光学传感器已知的几何关系将第二光学传感器耦合到细长仪器; 将第一和第二光学传感器耦合到控制器; 以及使用控制器通过比较从第一和第二光学传感器接收的信号来进行误差分析。