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公开(公告)号：US09984437B2
公开(公告)日：2018-05-29
申请号：US14342403
申请日：2012-09-05
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.
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公开(公告)号：US20140212025A1
公开(公告)日：2014-07-31
申请号：US14342403
申请日：2012-09-05
IPC分类号： G06T3/00
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.
摘要翻译： 注册系统和方法包括具有一个或多个可移动特征（122）的可配置设备（104），使得可以相对于参考来确定可移动特征的移动以定义可配置设备的特定配置。 成像系统（110）具有可配置设备可见的显示器。 处理设备（112）被配置为基于可配置设备的具体配置向可配置设备注册成像系统的坐标系。
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公开(公告)号：US08934003B2
公开(公告)日：2015-01-13
申请号：US13519383
申请日：2010-11-17
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：US20120307027A1
公开(公告)日：2012-12-06
申请号：US13519383
申请日：2010-11-17
IPC分类号： H04N7/18
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：US20120283747A1
公开(公告)日：2012-11-08
申请号：US13509330
申请日：2010-11-15
申请人： Aleksandra Popovic
发明人： Aleksandra Popovic
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B2017/00203 , A61B2034/301 , A61B2090/064
摘要： A surgical system includes a robot with both an active mode and an inactive mode of operation, and a holding arm for holding a surgical tool, and an immediate deactivator for determining when a human operator manually manipulates a holding arm or a surgical tool depending on signals from at least one condition sensor. Immediately upon that determination, the immediate deactivator deactivates the robot. The holding arm includes a stiffener/destiffener for increasing or decreasing the flexibility of the holding arm. The stiffness of the holding arm can be sufficiently decreased in the inactive mode to allow a human operator to skillfully control repositioning the surgical tool into a new position while the flexible holding arm is connected between the robot and the surgical tool. Also, the stiffness of the holding arm can be sufficiently increased, for essentially locking it into a rigid fixed shape for providing sufficient rigidity in the active mode for the robot to reposition the rigid holding arm for repositioning the surgical tool to perform preprogrammed tasks initiated by surgeon command inputs. The holding arm is completely inactive in both the active and inactive modes of the robot.
摘要翻译： 手术系统包括具有主动模式和非活动操作模式的机器人，以及用于保持外科手术工具的保持臂和用于根据信号确定人员何时手动操纵保持臂或外科手术工具的立即去激活器 从至少一个状态传感器。 立即在该确定之后，立即去激活机器人。 保持臂包括用于增加或降低保持臂的柔性的加强件/去颤器。 在非活动模式下，可以充分降低握持臂的刚度，以允许操作者巧妙地控制将外科手术工具重新定位到新的位置，同时柔性保持臂连接在机器人和手术工具之间。 此外，可以充分增加保持臂的刚度，以便基本上将其锁定成刚性固定形状，以在活动模式中提供足够的刚性，以使机器人重新定位刚性保持臂，以重新定位外科手术工具，以执行由 外科医生命令输入。 握持臂在机器人的主动和非活动模式下完全不起作用。
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公开(公告)号：US20130293868A1
公开(公告)日：2013-11-07
申请号：US13979283
申请日：2012-01-25
IPC分类号： G01L1/24
CPC分类号： G01L1/242 , A61B34/20 , A61B34/76 , A61B2034/2061 , A61B2034/301 , G01L1/246
摘要： An optical detection tool employs a surgical end-effector (30) and an optical fiber (20). In operation, the surgical end-effector (30) is navigated within an anatomical region relative to an object foreign to the anatomical region and the optical fiber (20) generates an encoded optical signal indicative of a strain measurement profile of the optical fiber (20) as the surgical end-effector (30) is navigated within the anatomical region. The optical fiber (20) has a detection segment in a defined spatial relationship with the surgical end-effector (30). The strain measurement profile represents a normal profile in the absence of any measurable contact of the foreign object with the detection segment of the optical fiber (20). Conversely, the strain measurement profile represents an abnormal profile in response to a measurable contact of the foreign object with the detection segment of the optical fiber (20).
摘要翻译： 光学检测工具采用外科末端执行器（30）和光纤（20）。 在操作中，手术末端执行器（30）相对于解剖区域外部的物体在解剖区域内导航，并且光纤（20）产生指示光纤（20）的应变测量轮廓的编码光信号 ），因为手术末端执行器（30）在解剖区域内导航。 光纤（20）具有与外科末端执行器（30）确定的空间关系的检测段。 在不存在外来物体与光纤（20）的检测段的任何可测量接触的情况下，应变测量轮廓表示正常轮廓。 相反，应变测量轮廓表示响应于异物与光纤（20）的检测段的可测量接触的异常轮廓。
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公开(公告)号：US20120310098A1
公开(公告)日：2012-12-06
申请号：US13577456
申请日：2011-01-14
申请人： Aleksandra Popovic
发明人： Aleksandra Popovic
CPC分类号： G01B11/2513 , A61B1/00009 , A61B1/04 , A61B1/2676 , A61B1/3132 , A61B1/317 , A61B5/1076 , A61B5/1077 , A61B5/4528 , G06T7/521 , G06T2207/10068 , G06T2207/30004
摘要： A method for reconstructing a surface of a three-dimensional object (41) involves a projection of a laser spot pattern (12, 14) onto the surface of the three-dimensional object (41) by a laser (11), and a generation of a series of endoscopic images (24) as an endoscope (21) is translated and/or rotated relative to the three-dimensional object (41). Each endoscopic image (24) illustrates a different view (23) of a laser spot array (13, 15) within the laser spot pattern (12, 14) as projected onto the surface of the three-dimensional object (41) by the laser (11). The laser spot array (13, 15) may be identical to or a subset of the laser spot pattern (12, 14). The method further involves a reconstruction of the surface of the three-dimensional object (41) from a correspondence of the different views (23) of the laser spot array (13, 15) as illustrated in the endoscopic images (24).
摘要翻译： 用于重建三维物体（41）的表面的方法涉及通过激光（11）将激光光斑图案（12,14）投影到三维物体（41）的表面上，并且产生 作为内窥镜（21）的一系列内窥镜图像（24）相对于三维物体（41）被平移和/或旋转。 每个内窥镜图像（24）示出了当通过激光器投影到三维物体（41）的表面上时激光光斑图案（12,14）内的激光光斑阵列（13,15）的不同视图（23） （11）。 激光点阵列（13,15）可以与激光光斑图案（12,14）相同或子集。 该方法还包括如内窥镜图像（24）所示从激光光斑阵列（13,15）的不同视图（23）的对应关系重建三维物体（41）的表面。
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公开(公告)号：US20120029288A1
公开(公告)日：2012-02-02
申请号：US13260734
申请日：2010-03-03
IPC分类号： A61B1/00
CPC分类号： A61B17/3421 , A61B2017/003 , A61B2017/00331 , A61B2017/00991 , A61B2034/108 , A61M25/0009 , A61M25/0041 , A61M25/01 , A61M2025/0175
摘要： Methods and systems for nested cannula configuration involving helical tubes (40). The nested cannula (60) includes a plurality of telescoping tubes cooperatively configured and dimensioned to reach a target location relative to an anatomical region through a set of arcs (11, 21, 41) including one or more helical arcs (41) with each arc being determined between a point associated with the anatomical region and the target location. In particular, a three-dimensional image (51) of the anatomical region is utilized to generate the series of arcs, which in turn are utilized to calculate a pathway (53) that is utilized to configure and dimension the tubes.
摘要翻译： 用于嵌套套管配置的方法和系统涉及螺旋管（40）。 嵌套插管（60）包括多个伸缩管，其协作地构造和尺寸设计成通过包括一个或多个螺旋弧（41）的一组弧（11,21,41）相对于解剖区域达到目标位置，其中每个圆弧 在与解剖区域相关联的点和目标位置之间确定。 特别地，利用解剖区域的三维图像（51）来产生一系列弧，其又被用于计算用于配置和确定管子的路径（53）。
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公开(公告)号：US20110282151A1
公开(公告)日：2011-11-17
申请号：US13124903
申请日：2009-10-12
IPC分类号： A61B1/00
CPC分类号： A61B6/5217 , A61B1/00009 , A61B1/2676 , A61B5/06 , A61B5/065 , A61B6/03 , A61B6/466 , A61B34/10 , A61B2017/00809 , A61B2034/107 , G06T7/248 , G06T7/74 , G06T2207/10068 , G06T2207/10072 , G06T2207/10116 , G06T2207/10132 , G06T2207/30061
摘要： A pre-operative stage of an image-based localization method (30) involves a generation of a scan image (20) illustrating an anatomical region (40) of a body, and a generation of virtual information (21) including a prediction of virtual poses of endoscope (51) relative to an endoscopic path (52) within scan image (20) in accordance with kinematic and optical properties of endoscope (51). An intra-operative stage of the method (30) involves a generation of an endoscopic image (22) illustrating anatomical region (40) in accordance with endoscopic path (52) and a generation of tracking information (23) includes an estimation of poses of endoscope (51) relative to endoscopic path (52) within endoscopic image (22) corresponding to the prediction of virtual poses of endoscope (51) relative to endoscopic path (52) within scan image (20).
摘要翻译： 基于图像的定位方法（30）的手术前阶段包括生成示出身体的解剖区域（40）的扫描图像（20），以及生成包括虚拟的预测的虚拟信息（21） 根据内窥镜（51）的运动学和光学特性，相对于扫描图像（20）内的内窥镜路径（52）的内窥镜（51）的姿势。 所述方法（30）的手术中阶段涉及根据内窥镜路径（52）生成示出解剖区域（40）的内窥镜图像（22），并且生成跟踪信息（23）包括： 内窥镜（51）相对于内窥镜图像（22）内的与内窥镜（51）的虚拟姿势相对于扫描图像（20）内的内窥镜路径（52）的预测相对于内窥镜路径（52）。
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10.发明申请PLANNING FOR CURVATURE INTERACTIONS, MULTIPLE RADII OF CURVATURE AND ADAPTIVE NEIGHBORHOODS 审中-公开曲线相互作用规划，曲线和自适应邻域多重RADII公开(公告)号：US20110270040A1
公开(公告)日：2011-11-03
申请号：US13142449
申请日：2009-11-10
CPC分类号： A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61M25/0105 , A61M25/0152 , A61M25/0158 , A61M2025/0004
摘要： Planning deployment of a medical robot based on concentric cannulas takes into account multiple radii of curvature. The radii of curvature are dependent on tube diameter. Tubes of smaller diameter can have tighter radii of curvature. Planning also takes into account moment of inertia and elasticity of tubes. For the purposes of planning, an A* algorithm is used for cost wave propagation together with a configuration space, a cost metric, and a neighborhood. The neighborhood is adaptive. The adaptive neighborhood can be different for each node in the configuration space data structure and depends on curvature affecting properties of individual tubes used to achieve a path from a most distal point to a most proximal point within a body to be examined.
摘要翻译： 基于同心插管的医疗机器人的规划部署考虑了多个曲率半径。 曲率半径取决于管直径。 较小直径的管可以具有更紧的曲率半径。 规划也考虑到管的惯性和弹性。 为了规划的目的，A *算法用于成本波传播以及配置空间，成本度量和邻域。 邻里是适应性的。 配置空间数据结构中的每个节点的自适应邻域可以不同，并且取决于影响用于实现从待检体内的最远端点到最近端点的路径的各个管的特性的曲率。
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