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    A DETERMINISTIC ROBOT PATH PLANNING METHOD FOR OBSTACLE AVOIDANCE
    2.
    发明申请
    A DETERMINISTIC ROBOT PATH PLANNING METHOD FOR OBSTACLE AVOIDANCE 审中-公开

    公开(公告)号：WO2021101564A1

    公开(公告)日：2021-05-27

    申请号：PCT/US2019/062766

    申请日：2019-11-22

    Applicant: EDDA TECHNOLOGY, INC.

    Inventor： MAO, Yuanfeng ,  WEI, Guo-Qing ,  SALEHEEN, Firdous ,  FAN, Li ,  ZENG, Xiaolan ,  QIAN, Jianzhong

    IPC: B25J9/00 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04

    Abstract: The present teaching relates to a method and system for path planning. A target is tracked via one or more sensors. Information of a desired pose of an end-effector with respect to the target and a current pose of the end-effector is obtained. Also, a minimum distance permitted between an arm including the end-effector and each of at least one obstacle identified between the current pose of the end-effector and the target is obtained. A weighting factor previously learned is retrieved and a cost based on a cost function is computed in accordance with a weighted smallest distance between the arm including the end-effector and the at least one obstacle, wherein the smallest distance is weighted by the weighting factor. A trajectory is computed from the current pose to the desired pose by minimizing the cost function.

    METHOD AND SYSTEM FOR SURGICAL INSTRUMENT GUIDANCE AND TRACKING WITH POSITION AND ORIENTATION CORRECTION
    3.
    发明申请
    METHOD AND SYSTEM FOR SURGICAL INSTRUMENT GUIDANCE AND TRACKING WITH POSITION AND ORIENTATION CORRECTION 审中-公开
    手术仪器指导方法和系统及跟踪与位置和方位校正

    公开(公告)号：WO2015112940A1

    公开(公告)日：2015-07-30

    申请号：PCT/US2015/012829

    申请日：2015-01-26

    Applicant: EDDA TECHNOLOGY, INC.

    Inventor： WEI, Guo-Qing ,  DOU, Xin ,  FAN, Li ,  ZENG, Xiaolan ,  QIAN, Jian-Zhong ,  LIANG, Cheng-Chung

    IPC: A61B8/14 ,  G06K9/32

    CPC classification number: A61B5/066 ,  A61B6/032 ,  A61B6/12 ,  A61B6/463 ,  A61B6/50 ,  A61B6/5235 ,  A61B6/527 ,  A61B34/20 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  G06T7/75 ,  G06T2207/10072 ,  G06T2207/30021 ,  G06T2207/30096

    Abstract: The present teaching relates to surgical procedure assistance. In one example, a first image of an organ having a lesion is obtained prior to a surgical procedure. Information related to a pose of a surgical instrument at a first location with respect to the lesion is received from a sensor coupled with the surgical instrument. A visual environment having the lesion and the surgical instrument rendered therein is generated based on the first image and the information received from the sensor. A second image of the organ is obtained when the surgical instrument is moved to a second location with respect to the lesion during the surgical procedure. The second image captures the lesion and the surgical instrument. The pose of the surgical instrument and the lesion rendered in the visual environment are adjusted based, at least in part, on the second image.

    Abstract translation: 本教学涉及外科手术辅助。 在一个实例中，在外科手术之前获得具有损伤的器官的第一图像。 从与外科器械耦合的传感器接收与第一位置处的外科器械相对于损伤的姿势相关的信息。 基于第一图像和从传感器接收的信息生成具有其中呈现的病变和外科手术器械的视觉环境。 当外科手术过程中手术器械移动到相对于病变的第二位置时，获得器官的第二图像。 第二个图像捕获病变和手术器械。 至少部分地基于第二图像调整在视觉环境中呈现的手术器械的姿势和损伤。

    METHOD AND SYSTEM FOR INTERACTIVE LAPAROSCOPIC ULTRASOUND GUIDED ABLATION PLANNING AND SURGICAL PROCEDURE SIMULATION
    5.
    发明申请
    METHOD AND SYSTEM FOR INTERACTIVE LAPAROSCOPIC ULTRASOUND GUIDED ABLATION PLANNING AND SURGICAL PROCEDURE SIMULATION 审中-公开
    交互式腹腔镜超声引导消融术规划和手术过程模拟的方法和系统

    公开(公告)号：WO2017214172A1

    公开(公告)日：2017-12-14

    申请号：PCT/US2017/036184

    申请日：2017-06-06

    Applicant: EDDA TECHNOLOGY, INC.

    Inventor： LIANG, Cheng-Chung ,  FAN, Li ,  WEI, Guo-Qing ,  DOU, Xin ,  QIAN, Jianzhong ,  ZENG, Xiaolan

    IPC: A61B8/00 ,  A61B8/13 ,  A61B8/14 ,  A61B18/00 ,  G09B23/00 ,  G09B23/28

    CPC classification number: A61B34/10 ,  A61B8/0841 ,  A61B17/320068 ,  A61B2017/320069 ,  A61B2017/3413 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  G06F19/321 ,  G06F19/324 ,  G16H50/50

    Abstract: Systems and methods relating to placement of an ultrasound transducer for a procedure.In a non-limiting embodiment, a 3D environment including images of a body region of a patient, as well as images including a first virtual representation of an ablation needle at a first location and a second virtual representation of an ultrasound transducer at a second location is rendered on a display device. A determination may be made as to whether the first and second virtual representations collide at a first collision point. If so, at least one parameter associated with an orientation and/or position of the second virtual representation may be adjusted. A determination may then be made as to whether or not the first and second virtual representations still collide and, in response to determining that there is no collision, position data indicating the location of the second virtual representation after the adjustment, is stored.

    Abstract translation: 涉及用于手术的超声换能器的放置的系统和方法在非限制性实施例中，包括患者的身体区域的图像的3D环境以及包括第一虚拟 在显示设备上呈现消融针在第一位置处的表示和超声换能器在第二位置处的第二虚拟表示。 可以做出关于第一和第二虚拟表示在第一碰撞点处是否碰撞的确定。 如果是这样，则可以调整与第二虚拟表示的取向和/或位置相关联的至少一个参数。 然后可以确定第一虚拟表示和第二虚拟表示是否仍然发生碰撞，并且响应于确定不存在碰撞，存储指示调整之后的第二虚拟表示的位置的位置数据。 p>

    METHOD AND SYSTEM FOR DISPLAYING A TIMING SIGNAL FOR SURGICAL INSTRUMENT INSERTION IN SURGICAL PROCEDURES
    6.
    发明申请
    METHOD AND SYSTEM FOR DISPLAYING A TIMING SIGNAL FOR SURGICAL INSTRUMENT INSERTION IN SURGICAL PROCEDURES 审中-公开
    用于在外科手术中显示手术仪器插入时序信号的方法和系统

    公开(公告)号：WO2015123401A1

    公开(公告)日：2015-08-20

    申请号：PCT/US2015/015581

    申请日：2015-02-12

    Applicant: EDDA TECHNOLOGY, INC.

    Inventor： WEI, Guo-Qing ,  DOU, Xin ,  LIANG, Cheng-Chung ,  FAN, Li ,  QIAN, Jian-Zhong ,  ZENG, Xiaolan

    IPC: G06T7/00

    CPC classification number: G06F19/321 ,  A61B17/3403 ,  A61B34/20 ,  A61B2017/00119 ,  A61B2017/00699 ,  A61B2034/105 ,  A61B2034/107 ,  G06F19/00 ,  G06F19/3481

    Abstract: The present teaching relates to surgical procedure assistance. In one example, a plurality of similarity measures are determined between a first set of positions and a plurality of second sets of positions, respectively. The first set of positions is obtained with respect to a plurality of sensors coupled with a patient in an image captured prior to a surgical procedure. The plurality of second sets of positions are obtained from the plurality of sensors and change in accordance with movement of the patient. A target lesion is segmented in the image captured prior to the surgical procedure to obtain a lesion display object. The lesion display object is duplicated to generate a plurality of lesion display objects. The plurality of lesion display objects are presented on a display screen so that a distance between the plurality of lesion display objects changes in accordance with the plurality of the similarity measures.

    Abstract translation: 本教学涉及外科手术辅助。 在一个示例中，分别在第一组位置和多个第二组位置之间确定多个相似性度量。 相对于在外科手术之前拍摄的图像中与患者耦合的多个传感器获得第一组位置。 从多个传感器获得多个第二组位置，并根据患者的移动而改变。 在外科手术前拍摄的图像中分割目标病变以获得病变显示对象。 复制病变显示对象以产生多个病变显示对象。 多个病变显示对象呈现在显示屏幕上，使得多个病变显示对象之间的距离根据多个相似性度量而改变。

    METHODS AND SYSTEMS FOR REAL-TIME SURGICAL PROCEDURE ASSISTANCE USING AN ELECTRONIC ORGAN MAP
    7.
    发明申请
    METHODS AND SYSTEMS FOR REAL-TIME SURGICAL PROCEDURE ASSISTANCE USING AN ELECTRONIC ORGAN MAP 审中-公开
    使用电子机构地图进行实时手术辅助的方法和系统

    公开(公告)号：WO2012006636A1

    公开(公告)日：2012-01-12

    申请号：PCT/US2011/043600

    申请日：2011-07-11

    Applicant: EDDA TECHNOLOGY, INC. ,  EDDA TECHNOLOGY (SUZHOU) LTD. ,  WEI, Guo-qing ,  QIAN, Jian-zhong ,  LIANG, Cheng-chung ,  ZENG, Xiaolan ,  FAN, Li ,  MA, Feng

    Inventor： WEI, Guo-qing ,  QIAN, Jian-zhong ,  LIANG, Cheng-chung ,  ZENG, Xiaolan ,  FAN, Li ,  MA, Feng

    IPC: A61B5/00

    CPC classification number: A61B90/36 ,  A61B34/20 ,  A61B2034/105 ,  A61B2090/366 ,  A61B2090/378

    Abstract: Methods, systems, and programs for real-time surgical procedure assistance are provided. A first set of 3D poses of the 3D points on the organ may be received. An electronic organ map built for the organ via pre-surgical medical information may be retrieved. A tissue parameter of the organ may be obtained based on the first set of 3D poses and their corresponding 3D poses from the electronic organ map. A deformation transformation of the electronic organ map may be calculated based on the obtained tissue parameter and the first set of 3D poses during the surgical procedure. The deformed electronic organ map may be projected onto the organ with respect to the first set of 3D poses during the surgical procedure.

    Abstract translation: 提供了用于实时外科手术辅助的方法，系统和程序。 可以接收器官上3D点的第一组3D姿势。 可以检索通过手术前医疗信息为器官建立的电子器官图。 可以基于电子器官图中的第一组3D姿势及其对应的3D姿势来获得器官的组织参数。 可以基于所获得的组织参数和外科手术过程中的第一组3D姿势来计算电子器官图的变形变换。 在外科手术期间，变形的电子器官图可以相对于第一组3D姿势投影到器官上。

    A ROBOT PATH PLANNING METHOD WITH STATIC AND DYNAMIC COLLISION AVOIDANCE IN AN UNCERTAIN ENVIRONMENT
    10.
    发明申请
    A ROBOT PATH PLANNING METHOD WITH STATIC AND DYNAMIC COLLISION AVOIDANCE IN AN UNCERTAIN ENVIRONMENT 审中-公开

    公开(公告)号：WO2021242215A1

    公开(公告)日：2021-12-02

    申请号：PCT/US2020/034493

    申请日：2020-05-26

    Applicant: EDDA TECHNOLOGY, INC.

    Inventor： MAO, Yuanfeng ,  WEI, Guo-Qing ,  FAN, Li ,  ZENG, Xiaolan ,  QIAN, Jianzhong

    IPC: B25J5/00 ,  B25J5/02 ,  B25J5/04 ,  G05D1/02 ,  G05D1/04

    Abstract: The present disclosure relates to robot path planning. Depth information of a plurality of obstacles in an environment of a robot are obtained at a first time instance. A static distance map is generated based on the depth information. A path is computed for the robot based on the static distance map. At a second time instant, depth information of one or more obstacles is obtained. A dynamic distance map is generated based on the one or more obstacles, wherein for each obstacle that satisfies a condition: a vibration range of the obstacle is computed based on a position of the obstacle and the static distance map, and the obstacle is classified as a dynamic obstacle or a static obstacle based on a criterion associated with the vibration range. A repulsive speed of the robot is computed based on the dynamic distance map to avoid the dynamic obstacles.

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