WO2019092261 ROBOTIC TOOL CONTROL

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Publication Number WO/2019/092261

Publication Date 16.05.2019

International Application No. PCT/EP2018/080999

International Filing Date 13.11.2018

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Applicants

KONINKLIJKE PHILIPS N.V. [NL]/[NL]

Inventors

THIENPHRAPA, Paul
FLEXMAN, Molly, Lara
BYDLON, Torre, Michelle
POPOVIC, Aleksandra
BALICKI, Marcin, Arkadiusz
TOPOREK, Grzegorz, Andrzej
PATRICIU, Alexandru

Agents

STEFFEN, Thomas
DE HAAN, Poul, Erik

Priority Data

62/585,021

13.11.2017

Publication Language English (en)

Filing Language English (EN)

Designated States

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Title

(EN) ROBOTIC TOOL CONTROL

(FR) COMMANDE D'OUTIL ROBOTIQUE

Abstract

(EN) 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.

(FR) Un système de commande d'un outil robotique comprend une mémoire qui stocke des instructions et un processeur qui exécute les instructions. Lorsqu'elles sont exécutées par le processeur, les instructions amènent le système à effectuer un processus qui comprend la surveillance d'un mouvement séquentiel de tissu dans un espace tridimensionnel. Le processus comprend également la projection d'emplacements et de moments correspondants lorsque le tissu sera à des emplacements projetés dans l'espace tridimensionnel. Un emplacement identifié du tissu dans l'espace tridimensionnel est identifié sur la base des emplacements projetés. Une trajectoire de l'outil robotique est réglée pour satisfaire le tissu au niveau de l'emplacement identifié à un moment projeté correspondant à l'emplacement identifié.

A	HUMAN NECESSITIES
61	MEDICAL OR VETERINARY SCIENCE; HYGIENE
B	DIAGNOSIS; SURGERY; IDENTIFICATION
34	Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30	Surgical robots

A	HUMAN NECESSITIES
61	MEDICAL OR VETERINARY SCIENCE; HYGIENE
B	DIAGNOSIS; SURGERY; IDENTIFICATION
34	Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30	Surgical robots

A	HUMAN NECESSITIES
61	MEDICAL OR VETERINARY SCIENCE; HYGIENE
B	DIAGNOSIS; SURGERY; IDENTIFICATION
17	Surgical instruments, devices or methods, e.g. tourniquets
00681	Aspects not otherwise provided for
00694	with means correcting for movement of or for synchronisation with the body

A	HUMAN NECESSITIES
61	MEDICAL OR VETERINARY SCIENCE; HYGIENE
B	DIAGNOSIS; SURGERY; IDENTIFICATION
34	Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30	Surgical robots
301	for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

A	HUMAN NECESSITIES
61	MEDICAL OR VETERINARY SCIENCE; HYGIENE
B	DIAGNOSIS; SURGERY; IDENTIFICATION
90	Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36	Image-producing devices or illumination devices not otherwise provided for
364	Correlation of different images or relation of image positions in respect to the body
367	creating a 3D dataset from 2D images using position information

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1. WO2019092261 - ROBOTIC TOOL CONTROL