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1. WO2019092261 - ROBOTIC TOOL CONTROL

Publication Number WO/2019/092261
Publication Date 16.05.2019
International Application No. PCT/EP2018/080999
International Filing Date 13.11.2018
IPC
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
CPC
A61B 2017/00694
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00681Aspects not otherwise provided for
00694with means correcting for movement of or for synchronisation with the body
A61B 2034/301
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
301for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
A61B 2090/367
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, 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
36Image-producing devices or illumination devices not otherwise provided for
364Correlation of different images or relation of image positions in respect to the body
367creating a 3D dataset from 2D images using position information
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/32
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
32operating autonomously
A61B 34/35
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
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
62/585,02113.11.2017US
Publication Language English (en)
Filing Language English (EN)
Designated States
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.
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