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1. 发明公开

EP2866667A2 C-ARM TRAJECTORY PLANNING FOR OPTIMAL IMAGE ACQUISITION IN ENDOSCOPIC SURGERY 审中-公开
标题翻译： C-ARM-轨迹内窥镜手术最佳电影CAPTURE
公开(公告)号：EP2866667A2
公开(公告)日：2015-05-06
申请号：EP13750141.7
申请日：2013-06-17
申请人： Koninklijke Philips N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B6/12 , A61B6/02 , A61B6/10 , A61B6/00 , A61B1/00 , A61B19/00
CPC分类号： A61B6/469 , A61B1/0005 , A61B1/00149 , A61B1/04 , A61B5/061 , A61B6/027 , A61B6/102 , A61B6/107 , A61B6/12 , A61B6/4417 , A61B6/4441 , A61B6/488 , A61B6/5229 , A61B34/10 , A61B34/20 , A61B34/30 , A61B2034/105 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/376 , A61F2/4609
摘要： An image acquisition system includes a first imaging modality device (102) configured to acquire images from a subject from a position. A second imaging modality device (124) is configured to acquire images of the subject from a plurality of poses selected based upon the position of the first imaging modality device and in accordance with criteria to provide a best pose or poses. A planning module (115) is stored in memory and is configured to determine at least one trajectory that permits the best pose or poses of the second imaging modality device to be achieved to acquire, in cooperation with the first imaging modality device, an image or images of the subject.

2. 发明公开

EP2747695A1 ENDOSCOPIC REGISTRATION OF VESSEL TREE IMAGES 有权
标题翻译：内蒙古自治区登记注册
公开(公告)号：EP2747695A1
公开(公告)日：2014-07-02
申请号：EP12805464.0
申请日：2012-10-19
申请人： Koninklijke Philips 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）在解剖区域内产生血管树（例如，动脉树或静脉树）的手术内窥镜图像（14），并且内窥镜控制器（22）血管树的手术内窥镜图像（14）到解剖区域内的血管树的手术前三维图像（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）。

3. 发明授权

EP2838412B1 GUIDANCE TOOLS TO MANUALLY STEER ENDOSCOPE USING PRE-OPERATIVE AND INTRA-OPERATIVE 3D IMAGES 有权转让
公开(公告)号：EP2838412B1
公开(公告)日：2020-09-09
申请号：EP13726277.0
申请日：2013-04-08
申请人： Koninklijke Philips N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B1/00

4. 发明授权

EP2720636B1 SYSTEM FOR GUIDED INJECTION DURING ENDOSCOPIC SURGERY 有权转让
公开(公告)号：EP2720636B1
公开(公告)日：2020-02-26
申请号：EP12735631.9
申请日：2012-06-11
申请人： Koninklijke Philips N.V.
发明人： MANZKE, Robert , CHAN, Raymond , ELHAWARY, Haytham , POPOVIC, Aleksandra
IPC分类号： A61B34/30 , A61B34/20 , A61B90/00

5. 发明授权

EP2866667B1 C-ARM TRAJECTORY PLANNING FOR OPTIMAL IMAGE ACQUISITION IN ENDOSCOPIC SURGERY 有权
公开(公告)号：EP2866667B1
公开(公告)日：2019-10-16
申请号：EP13750141.7
申请日：2013-06-17
申请人： Koninklijke Philips N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B6/12 , A61B6/02 , A61B6/10 , A61B6/00 , A61B1/00 , A61B34/00

6. 发明授权

EP3003180B1 LOCALIZATION OF ROBOTIC REMOTE CENTER OF MOTION POINT USING CUSTOM TROCAR 有权
公开(公告)号：EP3003180B1
公开(公告)日：2019-02-27
申请号：EP14716429.7
申请日：2014-03-21
申请人： Koninklijke Philips N.V.
发明人： ELHAWARY, Haytham , POPOVIC, Aleksandra , JAIN, Ameet Kumar
IPC分类号： A61B17/34 , A61B90/00

7. 发明公开

EP2996617A1 ROBOTIC CONTROL OF AN ENDOSCOPE FROM ANATOMICAL FEATURES 有权转让
标题翻译： ROBOTISCHE STEUERUNG EINES ENDOSKOPS AUS ANATOMISCHEN MERKMALEN
公开(公告)号：EP2996617A1
公开(公告)日：2016-03-23
申请号：EP14727057.3
申请日：2014-04-30
申请人： Koninklijke Philips N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham , LEE, Michael Chun-chieh
IPC分类号： A61B90/00 , G06T7/00
CPC分类号： A61B1/00006 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/0016 , A61B34/30 , A61B2090/365 , A61B2090/373
摘要： A robotic control system employs a robot unit (10) and a control unit (20). The robot unit (10) includes an endoscope (12) for generating an endoscope image (14), and a robot (11) for moving the endoscope (12) within an anatomical region. The control unit (20) includes an endoscope controller (22) for a determination of an endoscope pose within the anatomical region for an intraoperative visualization of the anatomical feature within the endoscope image (14), wherein the endoscope path is derived from a delineation of a volume coordinate position of the anatomical feature within a pre-operative image (43) of the anatomical region. The control unit (20) further includes a robot controller (21) for commanding the robot (11) to move the endoscope (12) to the endoscope pose within the anatomical region to visualize the anatomical feature within the endoscope image (14).
摘要翻译：机器人控制系统采用机器人单元（10）和控制单元（20）。机器人单元（10）包括用于产生内窥镜图像（14）的内窥镜（12）和用于在解剖区域内移动内窥镜（12）的机器人（11）。控制单元（20）包括用于确定解剖区域内的内窥镜姿势以用于内窥镜图像（14）内的解剖特征的术中可视化的内窥镜控制器（22），其中所述内窥镜路径是从描绘所述解剖学特征在解剖区域的术前图像（43）内的体积坐标位置。控制单元（20）还包括机器人控制器（21），用于命令机器人（11）将内窥镜（12）移动到解剖区域内的内窥镜姿势，以使内窥镜图像（14）内的解剖特征可视化。

8. 发明公开

EP2866642A2 FIBER OPTIC SENSOR GUIDED NAVIGATION FOR VASCULAR VISUALIZATION AND MONITORING 有权
标题翻译： GLASFASERSENSORGEFÜHRTENAVIGATIONFÜRGEFÄSSVISUALISIERUNGUND-THBERWACHUNG
公开(公告)号：EP2866642A2
公开(公告)日：2015-05-06
申请号：EP13752936.8
申请日：2013-06-20
申请人： Koninklijke Philips N.V.
发明人： ELHAWARY, Haytham , POPOVIC, Aleksandra , MANZKE, Robert , CHAN, Raymond
IPC分类号： A61B5/00 , A61B5/06 , A61B17/00
CPC分类号： A61B19/5244 , A61B1/00009 , A61B5/0026 , A61B5/0084 , A61B5/02007 , A61B5/0261 , A61B5/065 , A61B5/066 , A61B5/1076 , A61B5/1079 , A61B5/4836 , A61B5/489 , A61B5/6847 , A61B5/6876 , A61B5/7264 , A61B17/00008 , A61B17/0057 , A61B17/068 , A61B34/20 , A61B34/30 , A61B2017/00778 , A61B2034/2061 , A61B2034/303 , A61B2090/365
摘要： A method for visualizing branches of a lumen includes inserting (402) a fiber optic shape sensing device into a lumen and determining (404) changes in the lumen based upon strain induced in the fiber optic shape sensing device by flow in the lumen. Locations of branches are indicated (410) on a rendering of the lumen. An instrument is guided (414) to the locations of branches indicated on the rendering.
摘要翻译：用于可视化管腔的分支的方法包括将光纤形状感测装置插入（402）到内腔中，并且基于通过管腔中的流动在光纤形状感测装置中感应的应变来确定（404）内腔的变化。指示分支的位置（410）呈现管腔。仪器被引导（414）到渲染上指示的分支的位置。

9. 发明公开

EP2720636A1 SYSTEM AND METHOD FOR GUIDED INJECTION DURING ENDOSCOPIC SURGERY 有权转让
标题翻译： SYSTEM AND METHOD FOR控喷射在内窥镜手术
公开(公告)号：EP2720636A1
公开(公告)日：2014-04-23
申请号：EP12735631.9
申请日：2012-06-11
申请人： Koninklijke Philips N.V.
发明人： MANZKE, Robert , CHAN, Raymond , ELHAWARY, Haytham , POPOVIC, Aleksandra
IPC分类号： A61B19/00 , A61B17/00 , A61B1/00
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.

10. 发明授权

EP3104801B1 SYSTEM FOR SPATIAL VISUALIZATION OF INTERNAL MAMMARY ARTERY DURING MINIMALLY INVASIVE BYPASS SURGERY 有权
公开(公告)号：EP3104801B1
公开(公告)日：2019-03-13
申请号：EP15708593.7
申请日：2015-01-28
申请人： Koninklijke Philips N.V.
发明人： POPOVIC, Aleksandra , ELHAWARY, Haytham
IPC分类号： A61B34/10 , A61B90/00 , G06T7/00

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