Koninklijke Philips Corporation N.v.

David Paul Noonan

Molly Lara Flexman

Aleksandra Popovic

Neriman Nicoletta Kahya

Aryeh Leib Reinstein

Bharat Ramachandran

Gregory Cole

Raymond C Chan

Paul Thienphrapa

Martinus Bernardus Van Der Mark

Ralf Seip

Sander Hans Denissen

Xingchi He

Dirk Dijkkamp

Karen Irene Trovato

Ehsan Dehghan Marvast

Jeroen Jan Lambertus Horikx

Eibert Gerjan Van Putten

Jurgen Jean Louis Hoppenbrouwers

Anna Hendrika Van Dusschoten

Cornelius Antonius Nicolaas Maria Van Der Vleuten

Franciscus Reinier Antonius Van Der Linde

Ron Kroon

Elbert Gerjan Van Putten

Merel Danielle Leistikow

John Allen Bracken

Merel Danielle Leistokow

Johannes Petrus Withagen

A robot controller () includes a first input () configured to receive images () from an imaging device for a region of interest. A target identification device () is configured to identify a target region in the images. A control system () is coupled to a robotically controlled treatment device to generate control signals to control the treatment device to treat the target region when the treatment device is positioned corresponding to the target region.

Image guided robotic system for tumor aspiration

A control unit for a robot system including a robot with a rigid proximal portion having a remote center of motion (RCM), a flexible distal portion, and an image acquisition device. The control unit includes a processor that receives images from the image acquisition device; generates a first deployment path to a first target position based on the images; generates a second deployment path to a second target position from the first target position based on the images; generates first guidance information for positioning the rigid proximal portion along the first deployment path; generates second guidance information for positioning the flexible distal portion along the second deployment path; and deploys the first guidance information to the rigid proximal portion for guiding the rigid proximal portion to the first target position, and deploys the second guidance information to the flexible distal portion for guiding the flexible interface distal portion to the second target position.

Control unit, system and method for controlling hybrid robot having rigid proximal portion and flexible distal portion

A robotic surgical system employing a treatment catheter () (e.g., a thermoablation catheter or a cyroablation catheter), and an articulated robot () including a plurality of linkages and one or more joints interconnecting the linkages for navigating the treatment catheter () within an anatomical region. The robotic surgical system further employs a robot controller () for controlling a navigation by the articulated robot () of the treatment catheter () along a intraoperative treatment path within the anatomical region relative to the anatomical structure derived from a planned treatment path within the anatomical region relative to the anatomical structure based on a registration between the articulated robot () and a preoperative image () illustrative of the planned treatment path within the anatomical region relative to the anatomical structure.

Single-port surgical procedure using image guided articulated robot

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

An optical shape sensing (OSS) system includes a launch fixture configured to receive and secure an optical fiber within a flexible OSS enabled instrument, where the launch fixture includes a docking interface; a launch fixture base configured to be connected to a support structure; and a docking device configured to secure the launch fixture onto the launch fixture base. The docking device includes a launch fixture slot passing through the docking device, and the launch fixture slot is configured to receive and secure the docking interface of the launch fixture through both a top side of the docking device and an opposing bottom side of the docking device.

Docking device for optical shape sensing launch fixtures

A shape sensing enabled instrument includes a flexible guide wire or support rod including an outer surface which encapsulates interior features. The interior features include an optical fiber lumen () configured to receive one or more optical fibers for optical shape sensing, and a guide wire support rod or the support rod forming a hollow extending longitudinally along the instrument. The guide wire support rod or the support rod is configured to receive the optical fiber lumen therein to permit rotation and translation of an optical fiber and to protect the optical fiber.

Multipurpose lumen design for optical shape sensing

A system for medical device deployment includes an optical shape sensing (OSS) system () associated with a deployable medical device () or a deployment instrument (). The OSS system is configured to measure shape, position or orientation of the deployable medical device and/or deployment instrument. A registration module () is configured to register OSS data with imaging data to permit placement of the deployable medical device. An image processing module () is configured to create a visual representation (′) of the deployable medical device and to jointly display the deployable medical device with the imaging data.

Endograft visualization with optical shape sensing

An optical shape sensing system includes an attachment mechanism () being configured to secure an optical shape sensing fiber to an instrument, the optical shape sensing fiber being connected to the instrument and configured to identify a position and orientation of the instrument. An optical shape sensing module () is configured to receive feedback from the optical shape sensing fiber and register the position of the instrument relative to an operating environment. A position response module () is configured to provide feedback to an operator based on position or orientation of the instrument to guide usage of the instrument.

Optical shape sensing for instrument tracking in orthopedics

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

A medical device deployment system includes a main body () and a guidewire () capable of being passed through the main body and including a lumen. An optical shape sensing (OSS) system () is configured to pass through the lumen in the guidewire. The OSS system is configured to measure shape, position or orientation of an endograft () relative to a blood vessel for placement of the endograft.

Device visualization through optical shape sensing of a guidewire

One or more launch fixture ()s for optical shape sensing (OSS), the one launch fixture () or each launch fixture () being configured to receive and secure an optical fiber within a flexible OSS enabled instrument. A docking device () is provided for securing the launch fixture ()(s) onto a launch fixture base (). The docking device () may include one or more launch fixture () slots on one side of the docking device (), or one or more launch fixture () slots on each of two opposing sides of the docking device ().

A control unit is provided for a surgical robot system, including a robot configured to operate an end-effector in a surgical site of a patient. The control unit includes a processor configured to transmit acquired live images of a patient, received from an image acquisition device, to a virtual reality (VR) device for display; to receive input data from the VR device, including tracking data from a VR tracking system of the VR device based on a user's response to the live images displayed on a viewer of the display unit of the VR device; to process the input data received from the VR device to determine a target in the patient; to determine a path for the end-effector to reach the target based upon the live images and the processed input data; and to transmit control signals to cause the robot to guide the end-effector to the target via the determined path.

System, controller and method using virtual reality device for robotic surgery

A robot controller () includes a first input () configured to receive images () from an imaging device for a region of interest. A target identification device () is configured to identify a target region in the images. A control system () is coupled to a robotically controlled treatment device to generate control signals to control the treatment device to treat the target region when the treatment device is positioned corresponding to the target region. A treatment system comprising an aspiration device, a robot system and a control system, as well as a method for treatment of tissue are also disclosed.

An endograft () includes a stent structure. An optical shape sensing (OSS) system () is associated with the endograft and is configured to measure shape, position and/or orientation of the stent structure. The OSS system () is connected to the stent structure and removable in a plurality of ways. Methods for deployment and removal of the OSS system are also provided.

Endograft visualization with pre-integrated or removable optical shape sensing attachments

A robotic actuation system for sensorless force control of an interventional tool () having cable driven distal end (e.g., a probe, a steerable catheter, a guidewire and a colonoscope). The system employs a robotic actuator () having one or more motorized gears operate the cable drive of the interventional tool (). The system further employs a robotic workstation () to generate motor commands for simultaneous actuation position and contact force control of the interventional tool (). The motor commands are a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool ().

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New York, NY, United States of America

David Paul Noonan