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1. 发明申请

WO2008120129A3 PERSONAL ACCESSORY FOR USE WITH A PILL 审中-公开
公开(公告)号：WO2008120129A3
公开(公告)日：2008-10-09
申请号：PCT/IB2008/051078
申请日：2008-03-21
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V. , TROVATO, Karen Irene , TUYLS, Pim Theo , BARSCHALL, Anne Elizabeth
发明人： TROVATO, Karen Irene , TUYLS, Pim Theo , BARSCHALL, Anne Elizabeth
IPC分类号： A61B5/07
摘要： A wearable accessory controls (103) and provides security for a pill delivering medical substances and services. An initialization procedure allows decryption information (814) to be loaded into the accessory for each pill and/or decryption information (818) about the accessory to be loaded into the pill. The pill preferably sends encrypted messages to the accessory and the accessory preferably sends encrypted messages to the pill. The pill operates only when the proximity of the accessory is verified or authenticated during the operation of the pill, preferably at frequent intervals. Where the pill is no longer useful, its information can be deleted (1205) from memory in the accessory or other controlling device.

2. 发明申请

WO2009156931A3 METHOD AND SYSTEM FOR FAST PRECISE PATH PLANNING 审中-公开
标题翻译：快速精确路径规划方法与系统
公开(公告)号：WO2009156931A3
公开(公告)日：2011-01-20
申请号：PCT/IB2009052650
申请日：2009-06-19
申请人： KONINKL PHILIPS ELECTRONICS NV , TROVATO KAREN IRENE , POPOVIC ALEKSANDRA
发明人： TROVATO KAREN IRENE , POPOVIC ALEKSANDRA
IPC分类号： G06Q10/00
CPC分类号： G06Q10/047 , A61B17/3421 , A61B2017/3443
摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.
摘要翻译：系统（200）执行方法（130-180）以产生用于任何类型的路径规划应用的最佳路径。在操作中，系统（200）构造表示离散配置空间的配置空间节点结构，该配置空间节点结构包括由一个或多个参数表征的多个状态，并且利用离散参数值来增加配置空间节点结构，从而明确量化配置空间的每个节点节点结构和/或通过离散化配置空间的自由空间区域作为搜索引导的启发式值。

3. 发明申请

WO2010073134A1 CONTACT DETECTION TUBES, METHODS AND SYSTEMS FOR MEDICAL PROCEDURES 审中-公开
标题翻译：接触检测管，医疗程序的方法和系统
公开(公告)号：WO2010073134A1
公开(公告)日：2010-07-01
申请号：PCT/IB2009/054990
申请日：2009-11-10
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , TROVATO, Karen, Irene , SOER, Wouter, Anthon
发明人： TROVATO, Karen, Irene , SOER, Wouter, Anthon
IPC分类号： A61B17/34 , A61B17/00 , A61B19/00
CPC分类号： A61B17/3421 , A61B17/3494 , A61B34/30 , A61B2017/00026 , A61B2017/003 , A61B2017/00991 , A61B2017/3443 , A61B2034/301 , A61B2090/0801
摘要： A contact detection method (70) involves a navigation of a contact detection tube (20') within an open space of an anatomical region (50) of a body. The contact detection tube includes a tubular wall (21) having an interior surface (23) defining a working channel (24), and an electrode (30) integrated in the tubular wall (21). The electrode (30) electrically connects the contact detection tube (20') to an electrically conductive object (41, 52) (e.g., biological tissue or a medical instrument/tool) in physical contact with an exterior surface (22) of the tubular wall (21) and electrically isolates the working channel (24) from any electrical connection of the tube (20') to the object (41, 52). The method (70) further involves a determination of a contact status of the contact detection tube (20') between an open state (i.e., no physical contact) and a closed state (i.e., physical contact).
摘要翻译：接触检测方法（70）涉及在身体的解剖区域（50）的开放空间内的接触检测管（20'）的导航。接触检测管包括具有限定工作通道（24）的内表面（23）和集成在管状壁（21）中的电极（30））的管状壁（21）。电极（30）将接触检测管（20'）电连接到与管状物的外表面（22）物理接触的导电物体（41,42）（例如，生物组织或医疗仪器/工具）壁（21）并且将工作通道（24）与管（20'）的任何电连接与物体（41,42）电隔离。方法（70）还包括在打开状态（即，没有物理接触）和闭合状态（即物理接触）之间确定接触检测管（20'）的接触状态。

4. 发明申请

WO2009156892A1 NESTED CANNULAE FOR MINIMALLY INVASIVE SURGERY 审中-公开
标题翻译：用于微创外科手术的鼻塞
公开(公告)号：WO2009156892A1
公开(公告)日：2009-12-30
申请号：PCT/IB2009/052521
申请日：2009-06-12
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , TROVATO, Karen, Irene
发明人： TROVATO, Karen, Irene
IPC分类号： A61B17/34 , A61M25/01 , A61B17/00 , A61B19/00 , A61M25/00
CPC分类号： A61B17/3431 , A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61M25/0041 , A61M25/0105
摘要： The present disclosure provides for systems and methods for Nested Cannula configuration. Nested Cannula systems include a plurality of telescoping, pre-shaped tubes configured and dimensioned to reach target locations within a particular anatomical region. A three dimensional image is read for the particular anatomical region and structure in question. A series of arcs are generated between a point of the anatomical region and a target location, ensuring collision- free motion for each of the tubes at each specific diameter. The target location is determined based upon the medical procedure being performed and the location and orientation in six degrees of freedom of the anatomical structure in question. The series of arcs are used to configure and dimension the plurality of tubes. The Nested Cannula system is adapted to reach relatively small and complex target locations, such as to deliver photodynamic therapy, balloon angioplasty or BronchoAlveolar Lavage.
摘要翻译：本公开提供了用于嵌套插管配置的系统和方法。嵌套插管系统包括多个可伸缩的预成形管，其配置和尺寸设计成达到特定解剖区域内的目标位置。对于所讨论的特定解剖区域和结构，读取三维图像。在解剖区域的一个点和目标位置之间产生一系列弧，确保每个特定直径处的每个管的无碰撞运动。目标位置是基于正在执行的医疗程序以及所讨论的解剖结构的六自由度中的位置和取向来确定的。该系列弧用于配置和定尺多个管。嵌套插管系统适应于达到相对较小和复杂的目标位置，例如提供光动力疗法，球囊血管成形术或支气管肺泡灌洗液。

5. 发明申请

WO2008120128A3 SYSTEM AND METHOD FOR PILL COMMUNICATION AND CONTROL 审中-公开
标题翻译：系统和方法进行通讯和控制
公开(公告)号：WO2008120128A3
公开(公告)日：2009-01-08
申请号：PCT/IB2008051066
申请日：2008-03-20
申请人： KONINKL PHILIPS ELECTRONICS NV , TROVATO KAREN IRENE , TUYLS PIM THEO , SHIMIZU JEFF , ROUTH HELEN , DIJKSMAN JOHAN FREDERIK , PIERIK ANKE , RENSEN JUDITH MARGREET , ZOU HANS
发明人： TROVATO KAREN IRENE , TUYLS PIM THEO , SHIMIZU JEFF , ROUTH HELEN , DIJKSMAN JOHAN FREDERIK , PIERIK ANKE , RENSEN JUDITH MARGREET , ZOU HANS
IPC分类号： A61M31/00 , A61B5/00 , A61K9/00 , G06F19/00
CPC分类号： A61M31/002 , A61B1/00016 , A61B1/00059 , A61B1/041 , A61B5/0031 , A61B5/073 , A61B2562/08 , G06F19/3456 , H04L63/0428 , H04L63/08 , H04L63/104
摘要： A pill, associated parts and method of operating the same, includes an ingestible shell (12), a medicine reservoir (14) or other treatment, sampling or sensing mechanism in the shell, a real-time clock for facilitating timed events, and a processor (26) in the shell. The processor is communication with a controller (16) for releasing medicine from the medicine reservoir or for performing other active functions for the pill. A pill memory is included for storing information about medicine released by the medicine reservoir such as dosage profile and timing profile, or other functions performed by the pill. A communicator is also in the shell for receiving control signals for controlling the release controller and for transmitting the stored information from the pill memory. A tamper resistant bitstring contains identification information for uniquely identifying the pill and secret information for encrypting, decrypting, and authenticating communication via the communicator.
摘要翻译：药丸，相关部件及其操作方法包括：外壳中的可摄取壳体（12），药物贮存器（14）或其它处理，取样或感测机构，用于促进定时事件的实时时钟，以及处理器（26）在外壳中。处理器与用于从药物储存器释放药物或用于执行药丸的其它活性功能的控制器（16）进行通信。包括用于存储由药物储存器释放的药物的信息的药丸记忆，例如剂量曲线和时间特征，或由药片执行的其它功能。通信器也在外壳中，用于接收用于控制释放控制器的控制信号和用于从存储器存储器发送所存储的信息。防篡改位串包含用于唯一地识别药片的识别信息和用于通过通信器加密，解密和认证通信的秘密信息。

6. 发明申请

WO2010076674A1 PLANNING AND ASSEMBLY OF COMPENSATING CONCENTRIC CANNULAS 审中-公开
标题翻译：补充中枢性肛门的规划和组装
公开(公告)号：WO2010076674A1
公开(公告)日：2010-07-08
申请号：PCT/IB2009/054995
申请日：2009-11-10
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , POPOVIC, Aleksandra , TROVATO, Karen, Irene
发明人： POPOVIC, Aleksandra , TROVATO, Karen, Irene
IPC分类号： A61B17/34 , A61M25/00 , A61M25/01 , A61B17/00 , A61B19/00
CPC分类号： A61B17/3431 , A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61B2034/108 , A61M25/01 , A61M25/0105 , A61M25/0152 , A61M2025/0004
摘要： A specification for a device including a set of concentric cannulas may be discovered to have an actual path different from a desired path, due to interactions between cannulas that effect net curvature of the device. The choice of particular cannulas may be corrected by performing a calculation taking into account curvature affecting properties of the individual cannulas including radius of curvature, elasticity, and moment of inertia. This calculation is preferably performed iteratively starting with a most distal cannula and iterating through the cannulas to the proximal end, accumulating net effect of curvature affecting properties.
摘要翻译：可以发现包括一组同心插管的装置的规格具有不同于期望路径的实际路径，这是由于影响装置的净曲率的插管之间的相互作用。特定插管的选择可以通过考虑考虑包括曲率半径，弹性和惯性矩在内的各个插管的特性的曲率进行计算来校正。该计算优选地以最远端插管开始迭代地迭代，并且通过套管迭代到近端，累积影响特性的曲率的净效应。

7. 发明申请

WO2010076673A1 PATH PLANNING FOR REDUCING TISSUE DAMAGE IN MINIMALLY INVASIVE SURGERY 审中-公开
标题翻译：减少微创外科手术中组织损伤的路径规划
公开(公告)号：WO2010076673A1
公开(公告)日：2010-07-08
申请号：PCT/IB2009/054993
申请日：2009-11-10
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , TROVATO, Karen, Irene , POPOVIC, Aleksandra
发明人： TROVATO, Karen, Irene , POPOVIC, Aleksandra
IPC分类号： A61B17/34 , A61B19/00 , A61B17/00
CPC分类号： A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2034/107
摘要： A method for planning a path according to a surgical application incorporating a structural damage assessment technique (112) and/or a geometric expansion technique (113) for a configuration space node structure representing a discretized configuration space of an anatomical region (100). The structural damage assessment technique (112) includes a generation of structural damage assessments indicative of an assessment of potential damage to one or more critical anatomical areas of the anatomical region (100). The geometric expansion technique (113) includes an augmentation of the configuration space node structure involving one or more free- space configuration nodes geometrically neighboring the target node serving as surrogate seed nodes.
摘要翻译：一种用于根据包含结构损伤评估技术（112）和/或代表解剖学区域（100）的离散化配置空间的配置空间节点结构的几何扩展技术（113）的手术应用来规划路径的方法。结构损伤评估技术（112）包括代表对解剖区域（100）的一个或多个关键解剖区域的潜在损伤的评估的结构损伤评估的产生。几何扩展技术（113）包括涉及一个或多个自由空间配置节点的配置空间节点结构的增加，该自由空间配置节点几何地邻近用作替代种子节点的目标节点。

8. 发明申请

WO2009156931A2 METHOD AND SYSTEM FOR FAST PRECISE PATH PLANNING 审中-公开
标题翻译：快速精确路径规划方法与系统
公开(公告)号：WO2009156931A2
公开(公告)日：2009-12-30
申请号：PCT/IB2009/052650
申请日：2009-06-19
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , TROVATO, Karen Irene , POPOVIC, Aleksandra
发明人： TROVATO, Karen Irene , POPOVIC, Aleksandra
IPC分类号： G01C21/00
CPC分类号： G06Q10/047 , A61B17/3421 , A61B2017/3443
摘要： A system (200) executes a method (130-180) to produce an optimal path for any type of path planning application. In operation, the system (200) constructs a configuration space node structure representing a discretized configuration space including a plurality of states characterized by one or more parameters, and augments the configuration space node structure with discrete parameter values explicitly quantifying each node of the configuration space node structure and/or with heuristic values serving as a search guide through a free space region of the discretized configuration space.
摘要翻译：系统（200）执行方法（130-180）以产生用于任何类型的路径规划应用的最佳路径。在操作中，系统（200）构造表示离散配置空间的配置空间节点结构，该配置空间节点结构包括由一个或多个参数表征的多个状态，并且利用离散参数值来增加配置空间节点结构，从而明确量化配置空间的每个节点节点结构和/或通过离散化配置空间的自由空间区域作为搜索引导的启发式值。

9. 发明申请

WO2008120129A2 PERSONAL ACCESSORY FOR USE WITH A PILL 审中-公开
标题翻译：个人配件与药丸一起使用
公开(公告)号：WO2008120129A2
公开(公告)日：2008-10-09
申请号：PCT/IB2008051078
申请日：2008-03-21
申请人： KONINKL PHILIPS ELECTRONICS NV , TROVATO KAREN IRENE , TUYLS PIM THEO , BARSCHALL ANNE ELIZABETH
发明人： TROVATO KAREN IRENE , TUYLS PIM THEO , BARSCHALL ANNE ELIZABETH
IPC分类号： A61B5/07 , A61B5/06 , A61M31/00
CPC分类号： A61M31/002 , A61B1/041 , A61B5/4839 , H04L9/3278 , H04L2209/805 , H04L2209/88
摘要： A wearable accessory controls (103) and provides security for a pill delivering medical substances and services. An initialization procedure allows decryption information (814) to be loaded into the accessory for each pill and/or decryption information (818) about the accessory to be loaded into the pill. The pill preferably sends encrypted messages to the accessory and the accessory preferably sends encrypted messages to the pill. The pill operates only when the proximity of the accessory is verified or authenticated during the operation of the pill, preferably at frequent intervals. Where the pill is no longer useful, its information can be deleted (1205) from memory in the accessory or other controlling device.
摘要翻译：可穿戴附件控制（103）并为运送药物和服务的药丸提供安全保护。初始化过程允许解密信息（814）被加载到附件中以用于每个药丸和/或解密信息（818），关于待加载到药丸中的附件。药丸优选地将加密的消息发送到附件，并且附件优选地将加密的消息发送到药片。药丸仅在附件的接近度在药丸的操作期间被证实或认证时才优选地进行，优选以频繁的间隔。如果药丸不再有用，其信息可以从配件或其他控制设备中的内存中删除（1205）。

10. 发明申请

WO2010076675A1 PLANNING FOR CURVATURE INTERACTIONS, MULTIPLE RADII OF CURVATURE AND ADAPTIVE NEIGHBORHOODS 审中-公开
标题翻译：曲线相互作用规划，曲线和自适应邻域多重RADII
公开(公告)号：WO2010076675A1
公开(公告)日：2010-07-08
申请号：PCT/IB2009/054996
申请日：2009-11-10
申请人： KONINKLIJKE PHILIPS ELECTRONICS, N.V. , POPOVIC, Aleksandra , TROVATO, Karen, Irene
发明人： POPOVIC, Aleksandra , TROVATO, Karen, Irene
IPC分类号： A61B17/34 , A61M25/00 , A61M25/01 , A61B17/00 , A61B19/00
CPC分类号： A61B17/3421 , A61B34/10 , A61B2017/00331 , A61B2017/00526 , A61B2017/3443 , A61M25/0105 , A61M25/0152 , A61M25/0158 , A61M2025/0004
摘要： Planning deployment of a medical robot based on concentric cannulas takes into account multiple radii of curvature. The radii of curvature are dependent on tube diameter. Tubes of smaller diameter can have tighter radii of curvature. Planning also takes into account moment of inertia and elasticity of tubes. For the purposes of planning, an A* algorithm is used for cost wave propagation together with a configuration space, a cost metric, and a neighborhood. The neighborhood is adaptive. The adaptive neighborhood can be different for each node in the configuration space data structure and depends on curvature affecting properties of individual tubes used to achieve a path from a most distal point to a most proximal point within a body to be examined.
摘要翻译：基于同心插管的医疗机器人的规划部署考虑了多个曲率半径。曲率半径取决于管直径。较小直径的管可以具有更紧的曲率半径。规划也考虑到管的惯性和弹性。为了规划的目的，A *算法用于成本波传播以及配置空间，成本度量和邻域。邻里是适应性的。配置空间数据结构中的每个节点的自适应邻域可以不同，并且取决于影响用于实现从待检体内的最远端点到最近端点的路径的各个管的特性的曲率。

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