Koninklijke Philips Corporation N.v.

Aryeh Leib Reinstein

David Paul Noonan

Molly Lara Flexman

Aleksandra Popovic

Neriman Nicoletta Kahya

Paul Thienphrapa

Sander Hans Denissen

Xingchi He

Martinus Bernardus Van Der Mark

Douglas Allen Stanton

Bharat Ramachandran

Eibert Gerjan Van Putten

Ron Kroon

Dirk Dijkkamp

An electromagnetic navigation device for guiding and tracking an interventional tool () within an anatomical region. The electromagnetic navigation device employs a guidewire () insertable into the anatomical region, and a hub () translatable and/or rotatable in conjunction with the interventional tool () relative to the guidewire (). In operation, the guidewire () includes one or more guidance electromagnetic sensors generating guidance data informative of an electromagnetic sensing of a position and/or an orientation of the guidewire () relative to the anatomical region, and the hub () includes a tracking electromagnetic sensor () generating tracking data informative of an electromagnetic sensing of a position and/or an orientation of the hub () relative to the guidewire (). Responsive to the electromagnetic sensing data, a navigation controller () controls a determination of a position and/or an orientation of the interventional tool () relative to the guidewire ().

Electromagnetic navigation device for guiding and tracking an interventional tool

A registration system for medical navigation includes a shape sensing device (SSD) () having at least one sensor () for providing corresponding sensor information (SI) indicative of at least one of a position of the at least one sensor (); a registration fixture () having a channel () configured to receive at least part of the SSD and defining a registration path (P). The registration fixture may be configured to be attached to a registrant object (RO) () defining a workspace. A controller () may be configured to: sense a shape of a path traversed by the SSD based upon the SI when the at least one sensor is situated within the channel (), determine whether the sensed shape of the path corresponds with a known shape selected from one or more known shapes, and perform a coordinate registration based upon the determination.

Registration system for medical navigation and method of operation thereof

A hub for an optical shape sensing reference includes a hub body () configured to receive an elongated flexible instrument () with a shape sensing system coupled to the flexible instrument within a path formed in the hub body. A profile () is formed in the hub body in the path to impart a hub template configured to distinguish a portion of the elongated flexible instrument within the hub in shape sensing data. An attachment mechanism () is formed on the hub body to detachably connect the hub body to a deployable instrument such that a change in a position of the hub body indicates a corresponding change in the deployable device.

Hub for device navigation with optical shape sensed guidewire

An endoscopic imaging system () employing an endoscope () and an endoscope guidance controller (). In operation, endoscope () generates an endoscopic video () of an anatomical structure within an anatomical region. Endoscopic guidance controller (), responsive to a registration between the endoscopic video () and a volume image () of the anatomical region, controls a user interaction () with a graphical user interface () including one or more interactive planar slices () of the volume image (), and responsive to the user interaction () with the graphical user interface (), endoscopic guidance controller () controls a positioning of the endoscope () relative to the anatomical structure derived from the interactive planar slices () of the volume image (). A robotic endoscopic imaging system () incorporates a robot () in the endoscopic imaging system () whereby endoscope guidance controller () controls a positioning by robot () of the endoscope () relative to the anatomical structure.

Endoscope guidance from interactive planar slices of a volume image

An optical shape sensing system includes an attachment device () coupled at an anatomical position relative to a bone. An optical shape sensing fiber () is coupled to the attachment device and configured to identify a position and orientation of the attachment device. An optical shape sensing module () is configured to receive feedback from the optical shape sensing fiber and register the position and orientation of the attachment device relative to an anatomical map.

Shape sensing for orthopedic navigation

A triggering device includes an optical fiber () configured for optical shape sensing. A supporting element () is configured to support a portion of the optical fiber. An interface element () is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module () is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Triggering with optical shape sensing fiber

A robot guiding system employing an endoscope (), a robot (), a robot controller (), an endoscope controller () and an image integration module (). In operation, the robot controller () command the robot () to move the endoscope () within the anatomical region, and the endoscope controller () generates an endoscopic video display () of an intra-operative endoscopic image of the anatomical region generated by the endoscope (). As the endoscope () is stationary within the anatomical region, the image integration module () registers a pre-operative three-dimensional image of the anatomical region to the intra-operative endoscopic image of the anatomical region. As the endoscope () is moving within the anatomical region subsequent to the image registration, the image integration module () calibrates a motion of the robot () relative to the endoscope () followed by tracking a motion of the endoscope () within the anatomical region.

Continuous image integration for robotic surgery

A system for deploying a device includes an elongated flexible instrument () and a shape sensing system () coupled to the flexible instrument. A hub () includes a shape profile configured to receive and maintain the flexible instrument with the shape sensing system therein. The shape profile includes a shape to track a position or a rotation of the hub relative to a reference position using the shape sensing system. The hub is configured to be coupled to a deployable device () such that a change in the position or rotation of the hub indicates a corresponding change in the deployable device.

Hub for device placement with optical shape sensed guidewire

A replica control tool () for remotely controlling a control handle () of an interventional tool (e.g., a probe, a catheter and a flexible scope) is robotically controlled by a robotic actuator (). The replica control tool () employs a replica control handle () is substantially a replica of a structural configuration of the control handle () of the interventional tool. A control input device () (e.g., a joystick or a trackball) is movable relative to the replica control handle (). The replica control tool () further employs a robotic actuator controller () for remotely controlling the robotic actuator () in response to any movement of the control input device () relative to the replica control handle. The replica control tool () may further employ an electromechanical device () (e.g., an accelerometer) co-rotatable with the replica control handle () whereby the controller () remotely controls the robotic actuator () in response to a rotation of the electromechanical device ().

Remote robotic actuation of a transesophageal echocardiography probe

A workstation for calibrating a robotic instrument () has a distal tip () within an X-ray image space () of an X-ray modality (). The workstation employs a calibration controller () for calibrating a remote center of motion (RCM) length of the robotic instrument () responsive to X-ray images () of different poses of the distal tip () of the robotic instrument () within the X-ray image space (), and further employs a robotic instrument controller () for controlling a guidance of the robotic instrument () within the X-ray image space () from the RCM calibration. The robotic instrument () may include an endoscope whereby the calibration controller () is further employed to calibrate a focal length of the robotic instrument () responsive to the X-ray images () and one or more endoscope image(s) () of the X-ray image space () for controlling the guidance of the robotic instrument () within the X-ray image space () from the RCM/focal length calibrations.

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Bronx, NY, United States of America

Aryeh Leib Reinstein