The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 12, 2016
Filed:
Nov. 27, 2012
Koninklijke Philips N.v., Eindhoven, NL;
Karen Irene Trovato, Putnam Valley, NY (US);
Koninklijke Philips N.V., Eindhoven, NL;
Abstract
A cannula configuration method involves a generation of a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula. The method further involves a selection of a tube target location () within the free-space, the tube target location () being derived from a computation of contiguous tool trajectory nodes of the discretized configuration space representative of a trajectory of a surgical tool extending through the nested cannula from the tube target location () within the free-space to a tool target location () within the forbidden space. The method further involves a generation of a series of concatenated path shapes between the tube entry location () and the tube target location to form a cannula configuration pathway within the free-space.