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1. 发明申请

WO2012172474A1 SYSTEM AND METHOD FOR GUIDED INJECTION DURING ENDOSCOPIC SURGERY 审中-公开
标题翻译：内镜手术引导注射系统及方法
公开(公告)号：WO2012172474A1
公开(公告)日：2012-12-20
申请号：PCT/IB2012/052940
申请日：2012-06-11
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V. , MANZKE, Robert , CHAN, Raymond , ELHAWARY, Haytham , POPOVIC, Aleksandra
发明人： MANZKE, Robert , CHAN, Raymond , ELHAWARY, Haytham , POPOVIC, Aleksandra
IPC分类号： A61B19/00 , A61B17/00 , A61B1/00
CPC分类号： A61B19/5244 , A61B1/00149 , A61B1/04 , A61B5/061 , A61B5/4839 , A61B8/0841 , A61B8/0883 , A61B8/12 , A61B17/00234 , A61B17/3478 , A61B34/10 , A61B34/20 , A61B34/30 , A61B90/06 , A61B90/361 , A61B2017/00119 , A61B2017/00243 , A61B2017/00247 , A61B2034/107 , A61B2034/2048 , A61B2034/2059 , A61B2090/062 , A61B2090/065 , A61B2090/363 , A61B2090/365
摘要： A guidance system and method include a real-time imaging device (121) configured to intra-operatively collect image data of a target region to provide a real-time image. A target determination module (108) is configured to generate an overlay map (111) registered to the real-time image to project morphological feature information on corresponding features in the real-time image of the target region. A medical instrument (122) is provided to perform a procedure on the target region such that the at least one medical instrument is guided to a region suitable for performing an operative task based upon the overlay map.
摘要翻译：引导系统和方法包括实时成像设备（121），其被配置为在操作中收集目标区域的图像数据以提供实时图像。目标确定模块（108）被配置为生成登记到实时图像的重叠地图（111），以投影关于目标区域的实时图像中的相应特征的形态特征信息。提供医疗器械（122）以执行目标区域上的过程，使得至少一个医疗器械基于覆盖图被引导到适于执行操作任务的区域。

2. 发明申请

WO2008059253A3 ACTUATORS 审中-公开
公开(公告)号：WO2008059253A3
公开(公告)日：2008-05-22
申请号：PCT/GB2007/004362
申请日：2007-11-15
申请人： IMPERIAL INNOVATIONS LIMITED , LAMPERTH, Michael, Ulrich , YOUNG, Ian Robert , ELHAWARY, Haytham , TSE, Tsz Ho
发明人： LAMPERTH, Michael, Ulrich , YOUNG, Ian Robert , ELHAWARY, Haytham , TSE, Tsz Ho
IPC分类号： A61B19/00 , F01D15/06
摘要： An actuator comprises an input shaft (42), a turbine system (38) coupled to the input shaft, air inlet means (32, 34) arranged to direct air flowing through it towards the turbine system to rotate the input shaft, an output shaft (50), and a gearing system (48) connecting the input shaft (42) to the output shaft (50) so that the turbine system (38) can drive the output shaft (50) via the gearing system (48). The air inlet means defines two different flow paths for air whereby the output shaft (50) can be driven in both directions.

3. 发明申请

WO2008059263A2 MRI COMPATIBLE MANIPULATORS 审中-公开
标题翻译： MRI兼容操纵器
公开(公告)号：WO2008059263A2
公开(公告)日：2008-05-22
申请号：PCT/GB2007/004376
申请日：2007-11-15
申请人： IMPERIAL INNOVATIONS LIMITED , LAMPERTH, Michael, Ulrich , YOUNG, Ian Robert , ELHAWARY, Haytham , TSE, Tsz Ho
发明人： LAMPERTH, Michael, Ulrich , YOUNG, Ian Robert , ELHAWARY, Haytham , TSE, Tsz Ho
IPC分类号： A61B5/055 , A61B19/00
CPC分类号： H02N2/062 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00911 , A61B2090/0811 , H02N2/021 , H02N2/028
摘要： A manipulator for moving a device (64) comprises a series of stages (10), (10a, 10c) including a first stage (10) and a final stage (10c). Each stage comprises a slider unit (12, 12a, 12c) and a motor unit (14, 14a, 14c) including a motor arranged to move the motor unit relative to the slider unit. The manipulator further comprises mounting means (61) arranged to mount one unit of the first stage (10) on a support, and attachment (means 65) arranged to attach the device (64) to one unit of the final stage (10c), wherein each stage is connected to the next in the series by connection of one unit of one of them to one unit of the other.
摘要翻译：用于移动装置（64）的操纵器包括包括第一级（10）和最终级（10c）的一系列级（10），（10a，10c）。每个级包括滑块单元（12,12a，12c）和电动机单元（14,14a，14c），所述马达单元包括马达，所述马达设置成相对于所述滑块单元移动所述马达单元。操纵器还包括布置成将一个单元的第一平台（10）安装在支撑件上的安装装置（61）和被布置成将装置（64）附接到最终平台（10c）的一个单元的附接装置（装置65）其中每个级通过将它们中的一个的一个单元连接到另一个的一个单元而连接到串联中的下一个。

4. 发明申请

WO2013118047A1 INVISIBLE BIFURCATION DETECTION WITHIN VESSEL TREE IMAGES 审中-公开
标题翻译：隐形树皮图像中的隐形分叉检测
公开(公告)号：WO2013118047A1
公开(公告)日：2013-08-15
申请号：PCT/IB2013/050938
申请日：2013-02-04
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B1/00 , G06T7/00
CPC分类号： G06T7/003 , A61B1/00009 , A61B1/0005 , G06T7/337 , G06T2200/04 , G06T2207/10068 , G06T2207/10072 , G06T2207/20072 , G06T2207/30101
摘要： An image registration system an endoscope (12) and an endoscope controller (22). In operation, the endoscope (12) generates an intra-operative endoscopic image (14) of a vessel tree within an anatomical region including a plurality of branches of the vessel tree visible within the intra-operative endoscopic image (14) as an indication of a furcation of the vessel tree invisible within the intra-operative endoscopic image (14). The endoscope controller (22) image registers the intra-operative operative endoscopic image (14) of the vessel tree to a pre-operative three- dimensional image (44) of the vessel tree. The image registration includes an image matching of a graphical representation of the furcation of the vessel tree as indicated by the branches of the vessel tree visible within the intra-operative endoscopic image (14) of the vessel tree to a graphical representation of the furcation of the vessel tree visible within the pre-operative three- dimensional image (44) of the vessel tree.
摘要翻译：图像配准系统，内窥镜（12）和内窥镜控制器（22）。在操作中，内窥镜（12）在包括在术中内窥镜图像（14）内可见的血管树的多个分支的解剖区域内产生血管树的手术内窥镜图像（14），作为指示术中内窥镜图像中不可见的血管树的分叉（14）。内窥镜控制器（22）将血管树的手术中的内窥镜图像（14）登记到血管树的手术前三维图像（44）。图像配准包括由血管树的分支在血管树的术中内窥镜图像（14）中可见的血管树的分叉的图形表示的图像匹配，以及血管树的分叉的图形表示血管树在血管树的术前三维图像（44）内可见。

5. 发明申请

WO2013061225A1 ENDOSCOPIC REGISTRATION OF VESSEL TREE IMAGES 审中-公开
标题翻译：血管瘤图像的内镜注册
公开(公告)号：WO2013061225A1
公开(公告)日：2013-05-02
申请号：PCT/IB2012/055739
申请日：2012-10-19
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham , HALL, Christopher Stephen
IPC分类号： A61B19/00
CPC分类号： G06T3/0068 , A61B1/00009 , A61B34/30 , A61B90/37 , A61B2090/365 , A61B2090/367 , G06T7/0012 , G06T19/00 , G06T2207/10068 , G06T2207/30101
摘要： An image registration system an endoscope (12) and an endoscope controller (22). In operation, the endoscope (12) generates an intra-operative endoscopic image (14) of a vessel tree (e.g., an arterial tree or a venous tree) within an anatomical region, and the endoscope controller (22) image registers the intra-operative endoscopic image (14) of the vessel tree to a pre- operative three-dimensional image (44) of the vessel tree within the anatomical region. The image registration includes an image matching of a graphical representation of each furcation of the vessel tree within the intra-operative endoscopic image (14) of the vessel tree to a graphical representation of each furcation of the vessel tree within the pre-operative three-dimensional image (44) of the vessel tree.
摘要翻译：图像配准系统，内窥镜（12）和内窥镜控制器（22）。在操作中，内窥镜（12）在解剖区域内生成血管树（例如动脉树或静脉树）的手术内窥镜图像（14），内窥镜控制器（22）所述血管树的手术内窥镜图像（14）到所述解剖区域内的血管树的预处理三维图像（44）。图像配准包括血管树的术中内窥镜图像（14）内的血管树的每个分叉的图形表示与术前三维血管内血管树的每个分叉的图形表示的图像匹配，容器树的三维图像（44）。

6. 发明申请

WO2013093761A2 OVERLAY AND MOTION COMPENSATION OF STRUCTURES FROM VOLUMETRIC MODALITIES ONTO VIDEO OF AN UNCALIBRATED ENDOSCOPE 审中-公开
标题翻译：体外模式结构对不定期内镜视频的覆盖和运动补偿
公开(公告)号：WO2013093761A2
公开(公告)日：2013-06-27
申请号：PCT/IB2012/057393
申请日：2012-12-17
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B1/313 , G06T7/00 , G06T11/60 , A61B1/00
CPC分类号： G06T11/60 , A61B1/00009 , A61B1/0005 , A61B1/3137 , A61B34/30 , A61B2090/364 , G06T7/344 , G06T11/006 , G06T2200/32 , G06T2207/10068 , G06T2207/10081 , G06T2207/20072 , G06T2207/30048 , G06T2207/30101 , G06T2210/41
摘要： A method, system, and program product are provided for overlaying structures from volumetric modalities onto video of an uncalibrated endoscope. The method comprises: determining correspondence of a plurality of point pairs between a structure on a 3D preoperative image and the structure on a 2D endoscope video image; deriving a projection matrix for translation from the 3D image to the 2D image using assumed camera parameters and the corresponding point pairs; rendering a 2D projection of the structure from the 3D image onto the 2D endoscope image using the derived projection matrix; determining a homography matrix; and warping the rendered structure projection, using the homography matrix.
摘要翻译：提供了一种方法，系统和程序产品，用于将结构从容积模式叠加到未校准的内窥镜的视频上。该方法包括：确定3D预处理图像上的结构与2D内窥镜视频图像上的结构之间的多个点对的对应关系; 使用假定的摄像机参数和对应的点对，得到用于从3D图像到2D图像的平移的投影矩阵; 使用导出的投影矩阵将结构的2D投影从3D图像呈现到2D内窥镜图像上; 确定单应性矩阵; 并使用单应性矩阵扭曲渲染结构投影。

7. 发明申请

WO2013080070A1 SURGICAL PORT LOCALIZATION. 审中-公开
标题翻译：外科口岸本地化
公开(公告)号：WO2013080070A1
公开(公告)日：2013-06-06
申请号：PCT/IB2012/056350
申请日：2012-11-12
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham , CHAN, Raymond , MANZKE, Robert
IPC分类号： A61B1/00 , A61B19/00
CPC分类号： A61B1/04 , A61B1/00009 , A61B1/0005 , A61B1/00147 , A61B1/3132 , A61B34/10 , A61B90/11 , A61B2017/00296 , A61B2034/101 , A61B2034/107
摘要： A method, device, and system are provided for placing a port (12, 22, 32) for a surgical tool (20, 30) relative to real-time anatomical data. The method comprises: placing an endoscope (10) in a standard port (12); determining real-time anatomical data from an image from the endoscope; using a port localization apparatus (210) to identify an optimal location for an instrument port relative to the image from the endoscope; and creating an instrument port at the identified location.
摘要翻译：提供了一种用于相对于实时解剖数据放置用于外科手术工具（20,30）的端口（12,22,32）的方法，装置和系统。该方法包括：将内窥镜（10）放置在标准端口（12）中; 从来自内窥镜的图像确定实时解剖数据; 使用端口定位设备（210）来识别仪器端口相对于来自内窥镜的图像的最佳位置; 并在识别的位置创建仪器端口。

8. 发明申请

WO2013080124A1 ROBOTIC GUIDANCE OF ULTRASOUND PROBE IN ENDOSCOPIC SURGERY 审中-公开
标题翻译：超声探头在内镜手术中的机械指导
公开(公告)号：WO2013080124A1
公开(公告)日：2013-06-06
申请号：PCT/IB2012/056758
申请日：2012-11-27
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham , HALL, Christopher Stephen
IPC分类号： A61B19/00
CPC分类号： C07J43/003 , A61B1/0005 , A61B8/12 , A61B8/4218 , A61B34/30 , A61B90/361 , A61B2034/301 , A61B2090/3782 , A61B2090/3784 , A61K9/107 , A61K47/26 , A61K47/28 , C07J9/00 , C07J31/006 , C07J41/0061 , C07J51/00 , C07K1/145
摘要： Systems and methods for surgical robotic guidance include a robotic system (124) having a robot (122) configured to pass to a target through a port (134). The robotic system includes a visual component (102) employed in guiding the robot along a path to a location. The location is defined in accordance with a position and orientation of the robot. An ultrasonic probe (125) is guided by the robot to the location to permit engagement of the probe to collect ultrasonic images at the location.
摘要翻译：用于外科手术引导的系统和方法包括机器人系统（124），其具有被配置为通过端口（134）传递到目标的机器人（122）。机器人系统包括用于沿着到达位置的路径引导机器人的视觉部件（102）。该位置根据机器人的位置和方向来定义。超声波探头（125）由机器人引导到位置，以允许探针接合以在该位置收集超声波图像。

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