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公开(公告)号：US11931198B2
公开(公告)日：2024-03-19
申请号：US17378975
申请日：2021-07-19
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Alexandru Patriciu , Alyssa Torjesen , Jan Rongen
CPC classification number: A61B6/584 , A61B6/4441 , A61B6/463 , A61B6/5205 , A61B6/54
Abstract: Various embodiments of an X-ray imaging system employ a C-arm (60) and an X-ray overlay controller (410). In a planning overlay display mode, the controller (410) processes a planning X-ray image (420) and a reference planning X-ray image (421), both illustrative of the planning X-ray calibration device (400) and further processes a base X-ray image (424, 425) (422) illustrative of a base X-ray calibration device to control a display of a planned tool trajectory overlay (412) and a tracked tool position overlay (413) onto the planning X-ray image (420). In a guiding overlay display mode, the controller (410) processes a pair of interventional X-ray images (424, 425) and a guiding X-ray image (426), all illustrative of a guiding X-ray calibration device (402), to control a display of a guidance tool trajectory overlay (414) and a racked tool position overlay (415) onto the guiding X-ray image (426).
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公开(公告)号：US12295679B2
公开(公告)日：2025-05-13
申请号：US17773644
申请日：2020-11-03
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Marcin Arkadiusz Balicki , Alexandru Patriciu
Abstract: The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.
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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：US12004825B2
公开(公告)日：2024-06-11
申请号：US16762660
申请日：2018-11-06
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Alexandru Patriciu , Aleksandra Popovic
CPC classification number: A61B34/30 , A61B17/00234 , A61B2017/0034 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61B2034/302 , A61B2090/3782 , A61B2090/3983 , A61F2/2427
Abstract: A multi-stage robot (10) comprises a sequential series arrangement of a flexible robot arm (30), a robot platform (40), a snake robot arm (50) and an end-effector (60). In operation, the multi-state robot (10) is introduced through an incision or an anatomical opening into an anatomical region enclosing an anatomical structure, and the snake robot arm (50) and the end-effector (60) are further introduced through an incision or an anatomical opening into the anatomical structure. The robot platform (40) is thereafter attached to the incision or the anatomical opening of the anatomical structure to facilitate an actuation of the snake robot arm (50) relative to the robot platform (40) to thereby target position the end-effector (60) within the anatomical structure. The multi-stage robot (10) may further comprise a robot base at the proximal end of the multi-stage robot (10) and attachable to the incision or the anatomical opening into the anatomical region.
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Patent Agency Ranking
公开(公告)号：US11911207B2
公开(公告)日：2024-02-27
申请号：US17423921
申请日：2020-03-25
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Alexandru Patriciu , Alyssa Torjesen , Molly Lara Flexman , Ashish Sattyavrat Panse , Marcin Arkadiusz Balicki , Ronaldus Frederik Johannes Holthuizen
CPC classification number: A61B6/584 , A61B6/4441 , A61B6/08 , A61B6/587
Abstract: Various embodiments of the present disclosure include a C-arm registration system employing a controller (70) for registering a C-arm (60) to a X-ray ring marker (20). The X-ray ring marker (20) includes a coaxial construction of a chirp ring (40) and a centric ring (50) on an annular base (30). In operation, the controller (70) acquires a baseline X-ray image illustrative of the X-ray ring marker (20) within a baseline X-ray projection by the C-arm (60) at a baseline imaging pose, derives baseline position parameters of the X-ray ring marker (20) within the baseline X-ray projection as a function of an illustration of the centric ring (50) within the baseline X-ray image, and derives a baseline twist parameter of the X-ray ring marker (20) within the baseline X-ray projection as a function of the baseline position parameters and of an illustration of the chirp ring (40) within the baseline X-ray image.
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公开(公告)号：US11890129B2
公开(公告)日：2024-02-06
申请号：US17421029
申请日：2020-02-14
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Alexandru Patriciu
CPC classification number: A61B6/587 , A61B6/4441 , A61B6/54 , G01T7/005 , G06T7/37 , G06T7/70 , G06T2207/10116 , G06T2207/20056 , G06T2207/30204 , G06T2207/30244
Abstract: Various embodiments of the present disclosure include a C-arm registration system employing a controller (70) for registering a C-arm (60) to an X-ray ripple marker (20) including a ripple pattern (50) radially extending from a fixed point (40) of the X-ray ripple marker (20). In operation, the controller (70) identifies the ripple pattern (50) within an X-ray image generated from an X-ray projection by the C-arm (60) and illustrative of a portion or an entirety of the ripple pattern (50), the identification of the ripple pattern (50) within the X-ray image is characteristic of a pose of the X-ray projection by the C-arm (60) relative to the X-ray rippler marker (20). The controller (70) further analyzes the ripple pattern (50) within the X-ray image to derive one or more transformation parameters definitive of the pose of the X-ray projection by the C-arm (60) relative to the X-ray rippler marker (20), and registers the C-arm (60) to the X-ray ripple marker (20) based on the transformation parameter(s).
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公开(公告)号：US11547489B2
公开(公告)日：2023-01-10
申请号：US16345331
申请日：2017-11-24
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Ashish Panse , Torre Michelle Bydlon , Paul Thienphrapa , Molly Lara Flexman , Alexandru Patriciu , Sean Joseph Kyne
Abstract: A medical instrument includes a first device (108) including shape-sensed flexible instrument, a second device (102) disposed over the first device and a third device (109) disposed over the first device and a portion of the second device. The second and third devices include a geometric relationship such that a position of the second device and the third device is determined from shape sensing information of the first device and the geometric relationship.
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公开(公告)号：US11344222B2
公开(公告)日：2022-05-31
申请号：US16462388
申请日：2017-12-13
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Paul Thienphrapa , Torre Michelle Bydlon , Molly Lara Flexman , Alexandru Patriciu , Ashish Panse , Sean Joseph Kyne
Abstract: A system and method for determining the position of a non-shape-sensed guidewire (102) and for visualizing the guidewire. The system includes a shape-sensed catheter (104) having a lumen (103) that is configured to receive the non-shape-sensed guidewire. A measurement module (122) is configured to measure a distance that the non-shape-sensed guidewire moves. The measurement module may receive signals from a sensor (124) associated with a measurement assembly that is configured to receive at least a portion of the non-shape-sensed guidewire and/or the shape-sensed catheter. A location module (126) is configured to determine a position of the non-shape-sensed guidewire. The system is configured to generate a virtual image (101) of the guidewire, including a portion of the non-shape-sensed guidewire that does not extend along a shape-sensing optical fiber.
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公开(公告)号：US11918406B2
公开(公告)日：2024-03-05
申请号：US17407014
申请日：2021-08-19
Applicant: KONINKLIJKE PHILIPS N.V.
Inventor： Alexandru Patriciu , Alyssa Torjesen
IPC: A61B6/00
CPC classification number: A61B6/547 , A61B6/4441 , A61B6/463
Abstract: Various embodiments for X-ray imaging system employs a C-arm registration controller (830) for controlling a registration of a C-arm (60) to an X-ray marker (800) based on a generation by the C-arm (60) of an X-ray image (820) illustrative of the X-ray marker (800). The system further employs a registration confirmation controller (840) for controlling an interactive overlay display of a virtual confirmation marker (801) onto a display of the X-ray image (820) based on the registration of the C-arm (60) to the X-ray marker (800), and for controlling a misalignment correction of the interactive overlay display of the virtual confirmation marker (801) relative to the X-ray marker (800) as illustrated in the X-ray image (820) responsive to an operator interface with the interactive overlay display of the virtual confirmation marker (801). The C-arm registration controller (830) adjusts the registration of the C-arm (60) to the X-ray marker (800) based on the misalignment correction.
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