Koninklijke Philips Corporation N.v.

Koninklike Philips N.v.

Marcin Arkadiusz Balicki

Molly Lara Flexman

Grzegorz Andrzej Toporek

Alexandru Patriciu

Paul Thienphrapa

Aleksandra Popovic

Torre Michelle Bydlon

Ashish Panse

Sean Joseph Kyne

Shyam Bharat

Ameet Kumar Jain

Hua Xie

Man Nguyen

Kunal Vaidya

Ronaldus Frederik Johannes Holthuizen

Claudia Errico

Haibo Wang

Alyssa Torjesen

Carolina Amador Carrascal

Raghavendra Srinivasa Naidu

Sibo Li

Alalao Ayman

Christopher Martel

A plan-specific instrument template system employing an intervention guide base (), and an instrument guide design controller () for controlling a designing of a plan-specific instrument template () including one or more instrument guides for guiding one or more intervention instruments during an percutaneous intervention. In operation, the controller () generates and positions a generic instrument template () relative to an image segmentation of the intervention guide base (), the generic instrument template () being a geometric representation of the plan-specific instrument template () including the/each instrument guide of the generic instrument template () having a generic location and a generic orientation of a generic configuration relative to a platform of the generic instrument template (). In accordance with a treatment plan associated with the percutaneous intervention, the controller () further controls a relocation, a reorientation and/or a reconfiguration of the/each instrument guide of the generic instrument template () relative to the platform of the generic instrument template ().

Plan-specific instrument template for percutaneous interventional procedures

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

An ultrasound device () includes a probe () including a tube () sized for insertion into a patient and an ultrasound transducer () disposed at a distal end () of the tube. A camera () is mounted at the distal end of the tube in a fixed spatial relationship to the ultrasound transducer. At least one electronic processor () is programmed to: control the ultrasound transducer and the camera to acquire ultrasound images () and camera images () respectively while the ultrasound transducer is disposed in vivo inside the patient; and construct a keyframe () representative of an in vivo position of the ultrasound transducer including at least ultrasound image features () extracted from at least one of the ultrasound images acquired at the in vivo position of the ultrasound transducer and camera image features () extracted from one of the camera images acquired at the in vivo position of the ultrasound transducer.

Systems and methods for guiding an ultrasound probe

The following relates generally to systems and methods of transesophageal echocardiography (TEE) automation. Some aspects relate to a TEE probe with ultrasonic transducers on a distal end of the TEE probe. In some implementations, if a target is in a field of view (FOV) of the ultrasonic transducers, an electronic beam steering of the probe is adjusted; if the target is at an edge of the FOV, both the electronic beam steering and mechanical joints of the probe are adjusted; and if the target is not in the FOV, only the mechanical joints of the probe are adjusted.

Hybrid robotic-image plane control of a tee probe

Ultrasound image devices, systems, and methods are provided. An ultrasound imaging system includes a communication interface in communication with an ultrasound imaging device. The communication interface receives an ultrasound image of a subject's anatomy. The system includes a processor in communication with the communication interface. The processor applies a predictive network to the ultrasound image to identify a plurality of locations of potential malignancies in the subjects anatomy and determines a plurality of malignancy likelihoods at the plurality of locations of potential malignancies. The processor outputs, to a display in communication with the processor, the plurality of locations of potential malignancies and the plurality of malignancy likelihoods for the plurality of locations of potential malignancies to guide a biopsy determination for the subject's anatomy.

Biopsy prediction and guidance with ultrasound imaging and associated devices, systems, and methods

A positioning controller () including an imaging predictive model () and inverse control predictive model (). In operation, the controller () applies the imaging predictive model () to imaging data generated by an imaging device () to render a predicted navigated pose of the imaging device (), and applies the control predictive model () to error positioning data derived from a differential aspect between a target pose of the imaging device () and the predicted navigated pose of the imaging device () to render a predicted corrective positioning motion of the imaging device () (or a portion of the interventional device associated with this imaging device) to the target pose. From the predictions, the controller () further generates continuous positioning commands controlling a corrective positioning by the interventional device () of the imaging device () (or said portion of interventional device) to the target pose based on the predicted corrective positioning motion of the interventional device ().

Feedback continuous positioning control of end-effectors

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

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 system () for radiation dose monitoring in a medical environment () includes an imaging device () for directing radiation () onto a patient () and a radiation dose measuring device () for measuring a radiation dose of at least one medical personnel () within the medical environment (). The system further includes a processor () for receiving radiation dose information of the patient or of the at least one medical personnel, and for rendering, in real-time, a virtual object () associated with each radiation dose measuring device (), the virtual object () representing radiation dose information. The system can further include a display () for displaying distribution of radiation () in the medical environment ().

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Cambridge, MA, United States of America

Marcin Arkadiusz Balicki