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1. CN102595998 - Collision avoidance and detection using distance sensors

Office
Chine
Numéro de la demande 201080049832.2
Date de la demande 04.10.2010
Numéro de publication 102595998
Date de publication 18.07.2012
Type de publication A
CIB
A61B 1/00
ANÉCESSITÉS COURANTES DE LA VIE
61SCIENCES MÉDICALE OU VÉTÉRINAIRE; HYGIÈNE
BDIAGNOSTIC; CHIRURGIE; IDENTIFICATION
1Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 19/00
ANÉCESSITÉS COURANTES DE LA VIE
61SCIENCES MÉDICALE OU VÉTÉRINAIRE; HYGIÈNE
BDIAGNOSTIC; CHIRURGIE; IDENTIFICATION
19Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B1/-A61B18/159
CPC
A61B 5/065
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
5Measuring for diagnostic purposes
06Devices, other than using radiation, for detecting or locating foreign bodies
065Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
A61B 1/00147
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
A61B 1/00149
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00147Holding or positioning arrangements
00149using articulated arms
A61B 1/00193
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
1Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes
00163Optical arrangements
00193adapted for stereoscopic vision
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 2034/105
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
101Computer-aided simulation of surgical operations
105Modelling of the patient, e.g. for ligaments or bones
Déposants Koninkl Philips Electronics NV
Inventeurs Popovic Aleksandra
Klee Mareike
Marcelis Bout
Van Heesch Christianus Martinus
Mandataires wang yang liu bingsheng
Données relatives à la priorité 61/257,857 04.11.2009 US
Titre
(EN) Collision avoidance and detection using distance sensors
(ZH) 利用距离传感器的碰撞避免和检测
Abrégé
(EN)
An endoscopic method involves an advancement of an endoscope (20) as controlled by an endoscopic robot (31) to a target location within an anatomical region of a body, and a generation of a plurality of monocular endoscopic images (80) of the anatomical region as the endoscope (20) is advanced to the target location by the endoscopic robot (31). For avoiding or detecting a collision of the endoscope (20) with and object within monocular endoscopic images (80) (e.g., a ligament within monocular endoscopic images of a knee), the method further involves a generation of distance measurements of the endoscope (20) from the object as the endoscope (20) is advanced to the target location by the endoscopic robot (31), and a reconstruction of a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements (81).

(ZH)

一种内窥镜方法涉及:内窥镜(20)在内窥镜机器人(31)的控制下推进至身体的解剖区域之内的目标位置,以及随着内窥镜(20)被内窥镜机器人(31)推进至目标位置而生成解剖区域的多幅单目内窥镜图像(80)。为了避免或检测内窥镜(20)与单目内窥镜图像(80)之内的对象(例如,膝盖的单目内窥镜图像之内的韧带)的碰撞,该方法还涉及随着内窥镜(20)被内窥镜机器人(31)推进至目标位置而生成内窥镜(20)与该对象之间的距离测量结果,以及根据距离测量结果(81)重建单目内窥镜图像(80)之内的对象表面的三维图像。

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