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公开(公告)号：US20230086592A1
公开(公告)日：2023-03-23
申请号：US18073621
申请日：2022-12-02
摘要： An augmented reality interventional system which provides contextual overlays (116) to assist or guide a user (101) or enhance the performance of the interventional procedure by the user that uses an interactive medical device (102) to perform the interventional procedure. The system includes a graphic processing module (110) that is configured to generate at least one contextual overlay on an augmented reality display device system (106). The contextual overlays may identify a component (104) or control of the interactive medical device. The contextual overlays may also identify steps of a procedure to be performed by the user and provide instructions for performance of the procedure. The contextual overlays may also identify a specific region of the environment to assist or guide the user or enhance the performance of the interventional procedure by identifying paths or protocols to reduce radiation exposure.
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公开(公告)号：US20160324585A1
公开(公告)日：2016-11-10
申请号：US15109672
申请日：2014-12-11
摘要： 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.
摘要翻译： 用于跟踪设备图像的系统包括具有被配置为生成区域的图像的探针（146）的术中成像系统（110）。 支持形状检测功能的仪器（102）被配置为使形状感测功能仪器的一部分相对于该区域可定位。 形状检测使能仪器具有与术中成像系统的坐标系对应的坐标系。 机器人被配置为协调探针和形状感测功能仪器之间的运动，使得形状感测功能仪器相对于该区域的运动导致探针被移动以将形状感测使能的仪器保持在图像内。
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公开(公告)号：US20160031091A1
公开(公告)日：2016-02-04
申请号：US14780015
申请日：2014-10-22
摘要： 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).
摘要翻译： 力反馈夹紧装置采用机械夹持器（23），电磁致动器（22）和力反馈控制器（21）。 机械夹持器（23）可操作以致动到用于夹持物体的多个夹持姿势中的一个。 电磁致动器（22）包括磁流变弹性体（“MRE”），其中MRE可操作以根据施加到MRE的磁场的可变强度在多个形状之间转变，并且其中MRE的每个形状 将机械夹持器（23）致动到夹持姿势中的一个。 力反馈控制器（21）可操作以基于对机械夹持器（23）的夹紧力的估计以及响应于对象物体的负载力的感测来控制施加到MRE的磁场的可变强度 机械夹持器（23）的夹持力。
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公开(公告)号：US20150094856A1
公开(公告)日：2015-04-02
申请号：US14574637
申请日：2014-12-18
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/30 , A61B90/361 , G06T7/246 , G06T2207/10068 , Y10S901/15 , Y10S901/47
摘要： A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32). The visual servoing involves an identification of a tracking vector (vtrk) within an image coordinate system (80) of the digital video frame (32) extending from a tracking point (TR) to a target point (TG) associated with the image feature, a mapping of the tracking vector within a configuration space (100) constructed from a robotic coordinate system (90) associated with the end-effector (42), and a derivation of a pose of the end-effector (42) within the robotic coordinate system (90) from the mapping of the tracking vector (vtrk) within the configuration space (100).
摘要翻译： 一种用于具有光学视图的照相机（30）和具有端部执行器（42）的机器人（40）和用于操纵端部执行器（42）的一个或多个关节（41）的机器人控制方法。 机器人控制方法涉及一种数字视频帧（32）的采集，该数字视频帧（32）示出由照相机（30）光学观看的图像，以及执行用于控制相对于图像的末端执行器（42）的姿势的视觉伺服 特征在数字视频帧（32）内。 视觉伺服涉及从跟踪点（TR）延伸到与图像特征相关联的目标点（TG）的数字视频帧（32）的图像坐标系（80）内的跟踪矢量（vtrk）的识别， 在由与所述末端执行器（42）相关联的机器人坐标系（90）构造的配置空间（100）内的所述跟踪矢量的映射以及所述机器人坐标系中所述末端执行器（42）的姿态的推导 系统（90）从配置空间（100）内的跟踪矢量（vtrk）的映射。
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公开(公告)号：US20190083181A1
公开(公告)日：2019-03-21
申请号：US16180171
申请日：2018-11-05
摘要： A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.
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公开(公告)号：US20170132796A1
公开(公告)日：2017-05-11
申请号：US15127473
申请日：2015-03-11
CPC分类号： G06T7/30 , A61B5/04012 , A61B5/0402 , A61B6/463 , A61B6/467 , A61B6/5247 , G06F3/048 , G06T7/0012 , G06T19/00 , G06T2207/10028 , G06T2207/10116 , G06T2207/30048
摘要： The present invention relates to a medical viewing system (10) with a viewing plane determination, a method for providing medical images with a viewing plane determination, a computer program element for controlling such system and a computer readable medium. The medical viewing system (10) with a viewing plane determination comprises 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 aviewing 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.
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7.发明申请SYSTEM FOR PERFORMING INTRALUMINAL CORONARY AND METHOD OF OPERATION THEREOF 审中-公开用于执行内科冠状动脉的系统及其操作方法公开(公告)号：US20170042521A1
公开(公告)日：2017-02-16
申请号：US15119077
申请日：2015-02-26
发明人： ALEKSANDRA POPOVIC , RALF SEIP , DAVID PAUL NOONAN
CPC分类号： A61B17/00234 , A61B17/11 , A61B17/1204 , A61B17/12109 , A61B17/12136 , A61B17/22012 , A61B18/24 , A61B34/20 , A61B2017/00252 , A61B2017/1107 , A61B2017/22014 , A61B2017/306 , A61B2017/320069 , A61B2017/32007 , A61B2017/320082 , A61B2034/2051 , A61B2217/005 , A61N7/022
摘要： A method of performing a coronary bypass procedure, the method may be performed by the flexible apparatus controlled by at least one controller, the method may include acts of: percutaneously situating the flexible apparatus into a first artery coupled to connective tissue of a chest wall; transluminally detaching at least a portion of the first artery from the connective tissue by applying ultrasound signals of a first type emitted by at least one transducer of the flexible apparatus; steering at least a portion of the detached portion first artery from a current location to a bypass location at a target artery by applying a force transmitted through the flexible apparatus situated within the first artery; and coupling, by the flexible apparatus situated within the first artery, the first artery to the target artery at the bypass location to establish flow communication between the first artery and the target artery.
摘要翻译： 一种执行冠状动脉旁路手术的方法，所述方法可以由由至少一个控制器控制的柔性装置来执行，所述方法可以包括以下动作：将所述柔性装置经皮地置于与胸壁的结缔组织连接的第一动脉中; 通过施加由所述柔性装置的至少一个换能器发射的第一类型的超声波信号，从所述结缔组织中平滑地分离所述第一动脉的至少一部分; 通过施加穿过位于第一动脉内的柔性装置的力，将分离的部分第一动脉的至少一部分从当前位置转向到目标动脉处的旁路位置; 以及通过位于第一动脉内的柔性装置将第一动脉连接到旁路位置处的目标动脉以建立第一动脉和目标动脉之间的流动连通。
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公开(公告)号：US20160066768A1
公开(公告)日：2016-03-10
申请号：US14889897
申请日：2014-04-30
IPC分类号： A61B1/00
CPC分类号： A61B1/00006 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/0016 , A61B34/30 , A61B2034/301 , A61B2090/365 , A61B2090/373
摘要： A robotic control system employs a robot unit (10) and a control unit (20). The robot unit (10) includes an endoscope (12) for generating an endoscope image (14), and a robot (11) for moving the endoscope (12) within an anatomical region. The control unit (20) includes an endoscope controller (22) for a determination of an endoscope pose within the anatomical region for an intraoperative visualization of the anatomical feature within the endoscope image (14), wherein the endoscope path is derived from a delineation of a volume coordinate position of the anatomical feature within a pre-operative image (43) of the anatomical region. The control unit (20) further includes a robot controller (21) for commanding the robot (11) to move the endoscope (12) to the endoscope pose within the anatomical region to visualize the anatomical feature within the endoscope image (14).
摘要翻译： 机器人控制系统采用机器人单元（10）和控制单元（20）。 机器人单元（10）包括用于产生内窥镜图像（14）的内窥镜（12）和用于在解剖区域内移动内窥镜（12）的机器人（11）。 控制单元（20）包括内窥镜控制器（22），用于确定解剖区域内的内窥镜姿势以用于内窥镜图像（14）内的解剖特征的术中可视化，其中，内窥镜路径是从描绘 所述解剖学特征在所述解剖区域的术前图像（43）内的体积坐标位置。 控制单元（20）还包括机器人控制器（21），用于命令机器人（11）将内窥镜（12）移动到解剖区域内的内窥镜姿势，以使内窥镜图像（14）内的解剖特征可视化。
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9.发明申请LOCALIZATION OF ROBOTIC REMOTE CENTER OF MOTION POINT USING CUSTOM TROCAR 有权使用自定义TROCAR运动点的机器人远程中心的本地化公开(公告)号：US20160045269A1
公开(公告)日：2016-02-18
申请号：US14779997
申请日：2014-03-21
CPC分类号： A61B17/34 , A61B17/3421 , A61B34/20 , A61B34/30 , A61B90/39 , A61B2034/301 , A61B2090/364 , A61B2090/3966 , A61B2090/3991
摘要： A system for providing a remote center of motion for robotic control includes a marker device (104) configured to include one or more shapes (105) to indicate position and orientation of the marker device in an image collected by an imaging system (110). The marker device is configured to receive or partially receive an instrument (102) therein, the instrument being robotically guided. A registration module (117) is configured to register a coordinate system of the image with that of the robotically guided instrument using the marker device to define a position in a robot coordinate system (132) where a virtual remote center of motion (140) exists. Control software (136) is configured to control a motion of the robotically guided instrument wherein the virtual remote center of motion constrains the motion of a robot (130).
摘要翻译： 用于提供用于机器人控制的远程运动中心的系统包括标记装置（104），其被配置为包括一个或多个形状（105），以指示由成像系统（110）收集的图像中的标记装置的位置和取向。 标记装置被配置为在其中接收或部分地接收仪器（102），所述仪器被机器人引导。 登记模块（117）被配置为使用所述标记装置对所述图像的坐标系统与所述机器人引导的仪器的坐标系进行登记，以在所述机器人坐标系（132）中定义存在虚拟远程运动中心（140）的位置 。 控制软件（136）被配置为控制机器人引导仪器的运动，其中虚拟远程运动中心限制机器人（130）的运动。
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公开(公告)号：US20210177524A1
公开(公告)日：2021-06-17
申请号：US17115850
申请日：2020-12-09
发明人： PAUL THIENPHRAPA , TORRE MICHELLE BYDLON , PRASAD VAGDARGI , SEAN JOSEPH KYNE , ALEKSANDRA POPOVIC
摘要： Various embodiments of the present disclosure encompass a visual endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a visual guidance controller (130) for controlling of a display one or more guided manipulation anchors (50-52) within the display of the endoscopic view (11) of the anatomical structure. A guided manipulation anchor (50-52) is representative of location marking and/or a motion directive of a guided manipulation of the anatomical structure. The visual guidance controller (130) further controls a display of a hidden feature anchor relative to the display of the endoscopic view (11) of the anatomical structure. The hidden feature anchor (53) being representative of a position (e.g., a location and/or an orientation) of a guided visualization of the hidden feature of the anatomical structure.
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