公开(公告)号：US20110251455A1

公开(公告)日：2011-10-13

申请号：US13139794

申请日：2009-11-10

申请人： Aleksandra Popovic

发明人： Aleksandra Popovic

IPC分类号： A61B1/00

CPC分类号： A61B17/3421 ,  A61B1/018 ,  A61B1/2676 ,  A61B34/20 ,  A61B2017/00331 ,  A61B2017/0034 ,  A61B2017/3443 ,  A61B2034/2051

摘要： A method for accessing a target location (61) relative to an anatomical region (41) involves a navigation of a distal end (11) of an endoscope (10) to a cannula insertion location (60) that defines a position and an orientation of the distal end (11) of the endoscope (10) relative to the anatomical region (41). The method further involves an insertion of a nested cannula (20) through an instrument channel (12) of the endoscope (10) to the target location (61) with the nested cannula (20) including a plurality of telescoping tubes (21-24) configured to reach the target location (61) relative to the cannula insertion location (60).

摘要翻译： 一种用于相对于解剖区域（41）访问目标位置（61）的方法涉及将内窥镜（10）的远端（11）导引到套管插入位置（60），套管插入位置（60）限定了位置和方位 所述内窥镜（10）的远端（11）相对于所述解剖区域（41）。 该方法还包括将套管（20）穿过内窥镜（10）的仪器通道（12）插入到目标位置（61），嵌套的套管（20）包括多个伸缩管（21-24） ）构造成相对于套管插入位置（60）到达目标位置（61）。

公开(公告)号：US20110245625A1

公开(公告)日：2011-10-06

申请号：US13139803

申请日：2009-11-10

申请人： Karen Irene Trovato ,  Aleksandra Popovic

发明人： Karen Irene Trovato ,  Aleksandra Popovic

IPC分类号： A61B5/00

CPC分类号： A61B17/3421 ,  A61B34/10 ,  A61B2017/00331 ,  A61B2034/107

摘要： A method for planning a path according to a surgical application incorporating a structural damage assessment technique (112) and/or a geometric expansion technique (113) for a configuration space node structure representing a discretized configuration space of an anatomical region (100). The structural damage assessment technique (112) includes a generation of structural damage assessments indicative of an assessment of potential damage to one or more critical anatomical areas of the anatomical region (100). The geometric expansion technique (113) includes an augmentation of the configuration space node structure involving one or more free-space configuration nodes geometrically neighboring the target node serving as surrogate seed nodes.

摘要翻译： 一种用于根据包含结构损伤评估技术（112）和/或代表解剖学区域（100）的离散化配置空间的配置空间节点结构的几何扩展技术（113）的手术应用来规划路径的方法。 结构损伤评估技术（112）包括代表对解剖区域（100）的一个或多个关键解剖区域的潜在损伤的评估的结构损伤评估的产生。 几何扩展技术（113）包括涉及一个或多个自由空间配置节点的配置空间节点结构的增加，该自由空间配置节点几何地邻近用作替代种子节点的目标节点。

公开(公告)号：US09984437B2

公开(公告)日：2018-05-29

申请号：US14342403

申请日：2012-09-05

申请人： Paul Thienphrapa ,  Bharat Ramachandran ,  Aleksandra Popovic

发明人： Paul Thienphrapa ,  Bharat Ramachandran ,  Aleksandra Popovic

IPC分类号： G06T3/00 ,  G06T7/73

CPC分类号： G06T3/0068 ,  G06T7/73 ,  G06T2207/10136 ,  G06T2207/30048 ,  G06T2207/30204 ,  Y10S901/46 ,  Y10S901/47

摘要： A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.

公开(公告)号：US09946979B2

公开(公告)日：2018-04-17

申请号：US12996818

申请日：2009-06-19

申请人： Karen Irene Trovato ,  Aleksandra Popovic

发明人： Karen Irene Trovato ,  Aleksandra Popovic

IPC分类号： G01C21/34 ,  G06Q10/04 ,  A61B17/34

CPC分类号： G06Q10/047 ,  A61B17/3421 ,  A61B2017/3443

摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.

公开(公告)号：US09615886B2

公开(公告)日：2017-04-11

申请号：US13822001

申请日：2011-09-13

申请人： Aleksandra Popovic

发明人： Aleksandra Popovic

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B19/00 ,  A61B1/313 ,  G06T7/00 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

CPC分类号： A61B1/00149 ,  A61B1/00006 ,  A61B1/0005 ,  A61B1/0016 ,  A61B1/05 ,  A61B1/3137 ,  A61B34/30 ,  A61B2017/00252 ,  A61B2034/301 ,  A61B2090/3614 ,  A61B2090/364 ,  G06T7/344 ,  G06T7/75 ,  G06T2207/10068 ,  G06T2207/10072 ,  G06T2207/20072 ,  G06T2207/30101

摘要： 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：US09095252B2

公开(公告)日：2015-08-04

申请号：US13521284

申请日：2010-12-06

申请人： Aleksandra Popovic

发明人： Aleksandra Popovic

IPC分类号： G06K9/00 ,  G06K9/32 ,  A61B1/00 ,  G06T7/00 ,  A61B1/04 ,  A61B19/00

CPC分类号： A61B1/0005 ,  A61B1/042 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/364 ,  A61B2090/376 ,  G06T7/70

摘要： A real-time tracking of surgical tools relative to a pre-operative surgical plan and intra-operative images involves an image-based registration and tool tracking registration. The image-based registration implements an integration of a plurality of images of an anatomical region of a body including a pre-operative scan image (31) (e.g., a 3D CT/MRI image), an intra-operative fluoroscopic image (42) (e.g., an 2D X-ray image) and an intra- operative endoscopic image (23) (e.g., an 2D arthroscopic image). The tool tracking registration implements a representation within the pre-operative scan image (31) and/or the intra-operative fluoroscopic image (42) of a tracking of one or more surgical tools within the intra-operative endoscopic image (23).

摘要翻译： 相对于术前手术计划和手术内图像的手术工具的实时跟踪涉及基于图像的注册和工具跟踪注册。 基于图像的注册实现了包括术前扫描图像（31）（例如，3D CT / MRI图像），手术内透视图像（42）的身体的解剖区域的多个图像的集成， （例如，2D X射线图像）和术中内窥镜图像（23）（例如，2D关节镜图像）。 工具跟踪注册实现术中内窥镜图像（23）内的一个或多个手术工具的跟踪的术前扫描图像（31）和/或手术内透视图像（42）内的表示。

公开(公告)号：US20120209069A1

公开(公告)日：2012-08-16

申请号：US13502412

申请日：2010-10-04

申请人： Aleksandra Popovic ,  Mareike Klee ,  Bout Marcelis ,  Christianus Martinus Van Heesch

发明人： Aleksandra Popovic ,  Mareike Klee ,  Bout Marcelis ,  Christianus Martinus Van Heesch

IPC分类号： A61B1/00 ,  A61B1/04

CPC分类号： A61B5/065 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/00193 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/062 ,  A61B2090/08021 ,  A61B2090/3614 ,  A61B2090/367 ,  A61B2090/3784 ,  A61B2090/506 ,  G06T7/579 ,  G06T2207/10068 ,  G06T2207/30004

摘要： An endoscopic method involves an advancement of an endoscope (20) as controlled by an endoscopic robot (31) to a target location within an anatomical region of a body, and a generation of a plurality of monocular endoscopic images (80) of the anatomical region as the endoscope (20) is advanced to the target location by the endoscopic robot (31). For avoiding or detecting a collision of the endoscope (20) with and object within monocular endoscopic images (80) (e.g., a ligament within monocular endoscopic images of a knee), the method further involves a generation of distance measurements of the endoscope (20) from the object as the endoscope (20) is advanced to the target location by the endoscopic robot (31), and a reconstruction of a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements (81).

摘要翻译： 内窥镜方法包括将内窥镜机器人（31）控制的内窥镜（20）推进到身体的解剖区域内的目标位置，以及生成解剖区域的多个单目内窥镜图像（80） 当内窥镜（20）通过内窥镜机器人（31）前进到目标位置时。 为了避免或检测内窥镜（20）与单眼内窥镜图像（80）（例如膝盖的单眼内窥镜图像内的韧带）的对象的碰撞，该方法还包括生成内窥镜（20）的距离测量 ）由内窥镜（20）通过内窥镜机器人（31）前进到目标位置，并且将单眼内窥镜图像（80）内的物体的表面的三维图像重建为功能 的距离测量（81）。

公开(公告)号：US20120056986A1

公开(公告)日：2012-03-08

申请号：US13266465

申请日：2010-03-25

申请人： Aleksandra Popovic

发明人： Aleksandra Popovic

IPC分类号： H04N13/00

CPC分类号： A61B1/04 ,  A61B1/00009 ,  A61B1/313 ,  A61B5/065 ,  A61B34/20 ,  A61B2090/061

摘要： An endoscopic surgical method involves an advancement of an endoscope (20) to a target location within an anatomical region of a body and a generation of a plurality of endoscopic video frames (22) as the endoscope (20) is advanced to the target location with the endoscopic video frames (2) illustrating monocular endoscopic images of the anatomical region. For real-time estimation of a depth of an object within monocular endoscopic images (e.g., depth of a bronchial wall within an monocular endoscopic images of a bronchial tube), the method further involves (S41) a determination of an optical flow of one or more image points within a frame time series of the monocular endoscopic images of the anatomical region, and (S42) an estimation of a depth field indicative of a depth of the object within the monocular endoscopic images as a function of the optical flow of the image point(s).

摘要翻译： 内窥镜手术方法包括当内窥镜（20）前进到目标位置时将内窥镜（20）前进到身体的解剖区域内的目标位置和产生多个内窥镜视频帧（22），并且 内窥镜视频帧（2）示出解剖区域的单目内窥镜图像。 为了实时估计单眼内窥镜图像内的物体的深度（例如，支气管的单目内窥镜图像内的支气管壁的深度），该方法还包括（S41）确定一个或多个 在解剖区域的单目内窥镜图像的帧时间序列内的更多图像点，以及（S42）作为指示单眼内窥镜图像内的物体的深度的深度区域的估计作为图像的光流的函数 点。

公开(公告)号：US20110201887A1

公开(公告)日：2011-08-18

申请号：US13123591

申请日：2009-10-12

申请人： Elliot Eliyahu Greenblatt ,  Karen Irene Trovato ,  Aleksandra Popovic ,  Douglas Stanton

发明人： Elliot Eliyahu Greenblatt ,  Karen Irene Trovato ,  Aleksandra Popovic ,  Douglas Stanton

IPC分类号： A61B1/00

CPC分类号： A61B17/3421 ,  A61B2017/003 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2017/3443 ,  A61B2034/107 ,  A61M25/0021 ,  A61M25/0023 ,  A61M25/0041 ,  A61M2025/0006 ,  A61M2025/0175 ,  A61M2205/6045

摘要： An interlocking nested cannula set (231) has a plurality of telescoping tubes cooperatively configured and dimensioned to reach a target location relative to an anatomical region. Each tube has a pre-set interlocking shape. A nesting of an inner tube (30) within an outer tube (40) includes a gap (50) between the tubes (30, 40), which interlock within the gap (50) to limit rotation of the tubes (30, 40) relative to the gap (50). The interlocking shapes of the tubes (30, 40) may be identical or different. Examples of the interlocking shapes of a polygonal interlocking shape, a non-circular closed curve interlocking shape, a polygonal-closed curve hybrid interlocking shape and a keyway interlocking shape.

摘要翻译： 互锁嵌套套管组（231）具有多个伸缩管，其协作地构造和定尺寸以达到相对于解剖区域的目标位置。 每个管具有预设的互锁形状。 内管（40）内的嵌套包括在管（30,40）之间的间隙（50），所述间隙在间隙（50）内互锁以限制管（30,40）的旋转， 相对于间隙（50）。 管（30,40）的互锁形状可以相同或不同。 多边形互锁形状，非圆形闭合曲线互锁形状，多边形闭合曲线混合互锁形状和键槽互锁形状的互锁形状的示例。

公开(公告)号：US20110093191A1

公开(公告)日：2011-04-21

申请号：US12996818

申请日：2009-06-19

申请人： Karen Irene Trovato ,  Aleksandra Popovic

发明人： Karen Irene Trovato ,  Aleksandra Popovic

IPC分类号： G01C21/00

CPC分类号： G06Q10/047 ,  A61B17/3421 ,  A61B2017/3443

摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.

摘要翻译： 系统（200）执行方法（130-180）以产生用于任何类型的路径规划应用的最佳路径。 在操作中，系统（200）构建表示离散化配置空间的配置空间节点结构，所述配置空间节点结构包括由一个或多个参数表征的多个状态，并且利用明确量化配置空间的每个节点的离散参数值来增加配置空间节点结构 节点结构和/或通过离散化配置空间的自由空间区域作为搜索引导的启发式值。