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Robotic system and its control unit and computer-readable storage medium

A robotic system and control unit technology, applied in surgical robots, program-controlled manipulators, computer-aided surgery, etc., can solve the problem of no image guidance outside the heart, etc.

Active Publication Date: 2021-09-10
KONINKLJIJKE PHILIPS NV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Furthermore, it is difficult for the surgeon to map all anatomical landmarks in order to plan a straight path, especially with poor visual feedback and constant movement of the anatomy (e.g., beating heart and valve flapping)
Additionally, the fields of view of x-rays and ultrasounds are often limited to imaging the heart only, so there is no image guidance outside the heart

Method used

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  • Robotic system and its control unit and computer-readable storage medium
  • Robotic system and its control unit and computer-readable storage medium
  • Robotic system and its control unit and computer-readable storage medium

Examples

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Embodiment Construction

[0016] In the following detailed description, for purposes of explanation and not limitation, representative embodiments disclosing specific details are set forth in order to provide a thorough understanding of the present teachings. However, it will be apparent to persons of ordinary skill in the art having the benefit of this disclosure that other embodiments in accordance with the present teachings that depart from the specific details disclosed herein are still within the scope of the appended claims. Moreover, descriptions of well-known devices and methods may be omitted so as not to obscure the description of representative embodiments. Such methods and apparatus are clearly within the scope of the present teachings.

[0017] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. There may be any defined term in addition to its technical and scientific meaning as commonly ...

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PUM

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Abstract

A control unit for a robotic system comprising an image acquisition device and a robot having a rigid proximal portion with a remote center of motion (RCM) and a flexible distal portion. The control unit includes a processor that: receives an image from an image acquisition device; generates a first deployment path to a first target location based on the image; generates a second deployment path from the first target location to a second target location based on the image path; generating first guidance information for positioning the rigid proximal portion along a first deployment path; generating second guidance information for positioning the flexible distal portion along a second deployment path; and converting the first guidance information to Deploying to the rigid proximal portion to guide the rigid proximal portion to a first target location, and deploying second guidance information to the flexible distal portion to guide the flexible distal portion to a second target location.

Description

Background technique [0001] Steerable devices are often used in minimally invasive surgery to improve the surgeon's dexterity within the patient. One known steerable device includes a plurality of joints and tendons at a distal end and a drive system at a proximal end. The device can also be positioned using a robot positioner. Robotic positioning allows tracking of device motion relative to the anatomy. [0002] Another type of steerable device used in surgery is a surgical image acquisition device, such as an endoscope with a deflecting tip, or a robotic endoscope. Such endoscopes are elongated camera assemblies that allow a clinician to view a patient's internal anatomy without surgically exposing the anatomy for direct viewing. Endoscopy can be performed through narrow natural orifices or small incisions in the skin, which results in less trauma to the patient than visualization and intervention without an endoscope. [0003] Control of known dexterous devices is chall...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/10A61B34/20A61B34/30A61B34/32B25J18/00B25J9/16
CPCA61B2034/301A61B34/30A61B34/32A61B2034/107A61B2090/3762A61B34/20A61B2034/252A61B2090/374A61B34/10A61B2034/2051A61B2034/2055A61B90/37
Inventor A·波波维奇D·P·努南
Owner KONINKLJIJKE PHILIPS NV