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Image based robot guidance

A robot and image processor technology, applied in the field of image-based robot guidance, can solve problems such as prolonging operating room time

Inactive Publication Date: 2018-09-28
KONINKLJIJKE PHILIPS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And if the user / surgeon moves the endoscope relative to the robot, the calibration needs to be repeated
These complexities are associated with many workflow implicit difficulties, including the need for technical training of OR staff, extended OR hours, etc.

Method used

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  • Image based robot guidance
  • Image based robot guidance
  • Image based robot guidance

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Embodiment Construction

[0041] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown. However, this invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided as teaching examples of the invention.

[0042] figure 1 is a block diagram of an example embodiment of robotic system 20 .

[0043] Such as figure 1 As shown in , the robotic system 20 employs an imaging system 30 , a robot 40 and a robot controller 50 . In general, the robotic system 20 is configured for any robotic process that includes the autonomous motion capability of the robot 40 . Examples of such robotic processes include, but are not limited to, medical processes, assembly line processes, and processes involving mobile robots. In particular, robotic system 20 may be used in medical procedures including, but not limi...

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Abstract

A method and system provide two light beams which intersect at a remote center of motion (RCM) of a robot having an end-effector at a distal end thereof; capture images of a planned entry point and aplanned path through the RCM; register the captured images to three-dimensional pre-operative images; define an entry point and path for the RCM in the captured images using the light beams; detect and track in the captured images a reference object having a known shape; in response to information about the entry point, the path, and the reference object, compute robot joint motion parameters to align the end-effector to the planned entry point and planned path; and communicate the computed robot joint motion parameters to the robot to align the end-effector to the planned entry point and theplanned path.

Description

technical field [0001] The present invention relates to a robot, a robot controller, and a robot guidance method using captured images of the robot. Background technique [0002] Traditional tasks in surgery and interventions, such as laparoscopic surgery or needle placement for biopsy or therapy, involve positioning a rigid device (eg, laparoscope or needle or other "tool") through an entry point in the body, Follow the path to the target location. To improve workflow and accuracy and allow for consistent tool placement, these tasks can be performed by robots. These robots typically implement five or six degrees of freedom (eg, three degrees of freedom for moving to the entry point, and two or three for orienting the tool along the path). The planning of the entry point and the path of the tool is usually done using pre-operatively acquired 3D images, for example using computed tomography (CT), magnetic resonance imaging (MRI), and the like. [0003] In surgical theaters...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B90/13A61B34/32A61B34/10
CPCA61B34/30A61B34/32A61B90/13A61B2034/107A61B34/10A61B34/20A61B34/35A61B34/37A61B2034/2055
Inventor A·波波维奇D·P·努南
Owner KONINKLJIJKE PHILIPS NV