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Endoscopic Registration of Vascular Tree Images

A technology for image registration and endoscopy, applied in the fields of endoscopy, image enhancement, image analysis, etc.

Active Publication Date: 2016-09-28
KONINKLJIJKE PHILIPS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Surgical endoscope assist devices designed to allow the surgeon to directly control the endoscope via sensed movements of the surgeon's head can solve some of those problems by removing the assist device from the control loop, but The problem of transformation between the surgeon's frame of reference and the endoscopic frame of reference remains

Method used

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  • Endoscopic Registration of Vascular Tree Images
  • Endoscopic Registration of Vascular Tree Images
  • Endoscopic Registration of Vascular Tree Images

Examples

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Embodiment Construction

[0027] as in figure 1 As shown in , the robotic guidance system employs a robotic unit 10 and a control unit 20 for any endoscopic procedure involving endoscopic imaging of a vascular tree with one or more bifurcations (ie, branches). Examples of such endoscopic procedures include, but are not limited to, minimally invasive cardiac surgery (eg, coronary artery bypass grafting or mitral valve replacement).

[0028] The robotic unit 10 comprises a robot 11 , an endoscope 12 rigidly attached to the robot 11 and a video capture device 13 attached to the endoscope 12 .

[0029] Herein, a robot 11 is broadly defined as any robotic device structurally configured with motorized control for manipulating one or more nodes of an end effector as required by a particular endoscopic procedure. In practice, the robot 11 may have four (4) degrees of freedom, such as, for example, a tandem robot with nodes connected in series to rigid segments, nodes mounted in a parallel sequence (e.g., Stew...

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Abstract

An image registration system, an endoscope (12) and an endoscope controller (22). During surgery, the endoscope (12) generates an intraoperative endoscopic image (14) of the vascular tree (e.g., the arterial or venous tree) within the anatomical region, and the endoscope controller (22) The intraoperative endoscopic image (14) is image registered with the preoperative three-dimensional image (44) of the vascular tree within the anatomical region. The image registration includes aligning a graphical representation of each branch of the vascular tree in the intraoperative endoscopic image (14) of the vascular tree with each branch of the vascular tree in the preoperative three-dimensional image (44) of the vascular tree. The graphic representation of the cross matches the image.

Description

[0001] This application claims the rights of common patent application PCT / IB2011 / 053998, filed September 13, 2011, entitled "Robotic Control of an Endoscope from Blood Vessel Tree Images". technical field [0002] The present invention generally relates to intraoperative registration between preoperative three-dimensional ("3D") vascular tree images and intraoperative endoscopic vascular tree images. The present invention relates in particular to an intraoperative registration merging method for accounting for any changes in the topology of the vascular tree during coronary surgical procedures. Background technique [0003] Coronary artery bypass grafting ("CABG") is a surgical procedure for revascularization of blocked coronary arteries. Approximately 500,000 procedures are performed in the United States each year. In conventional CABG, the patient's sternum is opened and the patient's heart is fully exposed to the surgeon. Although the heart is exposed, some arteries wi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/10
CPCA61B2090/367A61B34/30A61B90/37A61B2090/365A61B1/000094G06T3/14G06T7/0012G06T19/00G06T2207/10068G06T2207/30101
Inventor A·波波维奇H·埃尔哈瓦林C·S·霍尔
Owner KONINKLJIJKE PHILIPS NV
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