Koninklijke Philips Corporation N.v.

Alexandru Patriciu

Molly Lara Flexman

Paul Thienphrapa

Torre Michelle Bydlon

Marcin Arkadiusz Balicki

Ashish Panse

Alyssa Torjesen

Aleksandra Popovic

Grzegorz Andrzej Toporek

Sean Joseph Kyne

Ronaldus Frederik Johannes Holthuizen

Jan Rongen

An OSS guiding and monitoring system employs an interventional device () including an integration of a OSS sensor () and one or more interventional tools (), the OSS sensor () for generating shape sensing data informative of a shape of the OSS sensor () as the interventional device () is navigated within an anatomical region. The OSS guiding and monitoring system further employs an OSS guiding controller () for controlling a reconstruction of a shape of the interventional device () within the anatomical region responsive to a generation of the shape sensing data by the OSS sensor (), and an OSS monitoring controller () for controlling a monitoring of a degree of folding and/or a degree of twisting of the interventional device () within the anatomical region.

OSS guiding and monitoring systems, controllers and methods

Method of calculating a scaled virtual grid for x-ray projection images, comprising providing at least a first and a second co-registered x-ray projection image Ij−j=1, 2, . . . of a desired anatomy of a patient (step S), defining two points Pand Pof the desired anatomy in 3-D space and determining 3-D coordinates of the two points Pand Pthereby using the x-ray projection images (step S), calculating the scaled virtual grid based on the determined 3-D coordinates of the two points Pand P(step S), and projecting and displaying the calculated grid to a user on at least one of the first and the second co-registered x-ray projection image (step S).

3-D measurements grid tool for x-ray images

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.

Robotic positioning of a device

A multi-stage robot () comprises a sequential series arrangement of a flexible robot arm (), a robot platform (), a snake robot arm () and an end-effector (). In operation, the multi-state robot () is introduced through an incision or an anatomical opening into an anatomical region enclosing an anatomical structure, and the snake robot arm () and the end-effector () are further introduced through an incision or an anatomical opening into the anatomical structure. The robot platform () is thereafter attached to the incision or the anatomical opening of the anatomical structure to facilitate an actuation of the snake robot arm () relative to the robot platform () to thereby target position the end-effector () within the anatomical structure. The multi-stage robot () may further comprise a robot base at the proximal end of the multi-stage robot () and attachable to the incision or the anatomical opening into the anatomical region.

Multi-stage robot for anatomical structure interventions

Various embodiments of an X-ray imaging system employ a C-arm () and an X-ray overlay controller (). In a planning overlay display mode, the controller () processes a planning X-ray image () and a reference planning X-ray image (), both illustrative of the planning X-ray calibration device () and further processes a base X-ray image () () illustrative of a base X-ray calibration device to control a display of a planned tool trajectory overlay () and a tracked tool position overlay () onto the planning X-ray image (). In a guiding overlay display mode, the controller () processes a pair of interventional X-ray images () and a guiding X-ray image (), all illustrative of a guiding X-ray calibration device (), to control a display of a guidance tool trajectory overlay () and a racked tool position overlay () onto the guiding X-ray image ().

X-ray calibration for display overlays onto X-ray images

Various embodiments for X-ray imaging system employs a C-arm registration controller () for controlling a registration of a C-arm () to an X-ray marker () based on a generation by the C-arm () of an X-ray image () illustrative of the X-ray marker (). The system further employs a registration confirmation controller () for controlling an interactive overlay display of a virtual confirmation marker () onto a display of the X-ray image () based on the registration of the C-arm () to the X-ray marker (), and for controlling a misalignment correction of the interactive overlay display of the virtual confirmation marker () relative to the X-ray marker () as illustrated in the X-ray image () responsive to an operator interface with the interactive overlay display of the virtual confirmation marker (). The C-arm registration controller () adjusts the registration of the C-arm () to the X-ray marker () based on the misalignment correction.

Marker registration correction by virtual model manipulation

Various embodiments of the present disclosure include a C-arm registration system employing a controller () for registering a C-arm () to a X-ray ring marker (). The X-ray ring marker () includes a coaxial construction of a chirp ring () and a centric ring () on an annular base (). In operation, the controller () acquires a baseline X-ray image illustrative of the X-ray ring marker () within a baseline X-ray projection by the C-arm () at a baseline imaging pose, derives baseline position parameters of the X-ray ring marker () within the baseline X-ray projection as a function of an illustration of the centric ring () within the baseline X-ray image, and derives a baseline twist parameter of the X-ray ring marker () within the baseline X-ray projection as a function of the baseline position parameters and of an illustration of the chirp ring () within the baseline X-ray image.

X-ray ring markers for X-ray calibration

Various embodiments of the present disclosure include a C-arm registration system employing a controller () for registering a C-arm () to an X-ray ripple marker () including a ripple pattern () radially extending from a fixed point () of the X-ray ripple marker (). In operation, the controller () identifies the ripple pattern () within an X-ray image generated from an X-ray projection by the C-arm () and illustrative of a portion or an entirety of the ripple pattern (), the identification of the ripple pattern () within the X-ray image is characteristic of a pose of the X-ray projection by the C-arm () relative to the X-ray rippler marker (). The controller () further analyzes the ripple pattern () 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 () relative to the X-ray rippler marker (), and registers the C-arm () to the X-ray ripple marker () based on the transformation parameter(s).

X-ray ripple markers for x-ray calibration

An optical shape sensing device includes an elongated outer body with flexible tubing configured to maneuver through a passage; a multicore optical fiber extending through the elongated outer body, and enabling shape sensing by tracking deformation of the multicore optical fiber along a length of the multicore optical fiber; a termination piece attached to a distal tip of the multicore optical fiber, the termination piece having a distal tip; and a force sensing region integrated with the elongated outer body and configured to enable determining of an axial force exerted on a distal end of the elongated outer body. The shape sensing occurs along the multicore optical fiber to the distal tip of the termination piece.

Optical shape sensing device with integrated force sensing region and tip integration

An intervention system employing an interventional robot (), an interventional imaging modality () and an interventional controller (). In 5 operation, the interventional controller () navigates an anatomical roadmap () of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot () within the anatomical region in accordance with the anatomical roadmap (). Upon a detection by the interventional controller () of an occurrence of the interventional controller () navigating 10 proximately to a critical anatomical location within the anatomical roadmap (), the interventional controller () pauses the navigation of the interventional robot () within anatomical region and autonomously controls an operation of the interventional imaging modality () for generating an updated anatomical roadmap () of the anatomical region whereby the interventional controller () navigates the updated 15 anatomical roadmap () of the anatomical region in accordance with the interventional plan to thereby control a resumed navigation of the interventional robot () within the anatomical region.

Autonomous X-ray control for robotic navigation

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.

Robotic tool control

A medical instrument includes a first device () including shape-sensed flexible instrument, a second device () disposed over the first device and a third device () 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.

Shape sensing of multiple over-the-wire devices

A system and method for determining the position of a non-shape-sensed guidewire () and for visualizing the guidewire. The system includes a shape-sensed catheter () having a lumen () that is configured to receive the non-shape-sensed guidewire. A measurement module () is configured to measure a distance that the non-shape-sensed guidewire moves. The measurement module may receive signals from a sensor () 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 () is configured to determine a position of the non-shape-sensed guidewire. The system is configured to generate a virtual image () of the guidewire, including a portion of the non-shape-sensed guidewire that does not extend along a shape-sensing optical fiber.

Growing community of inventors

Belmont, MA, United States of America

Alexandru Patriciu