ROBOTIC GUIDANCE OF ULTRASOUND PROBE IN ENDOSCOPIC SURGERY

• US 20140343571A1
• Filed: 11/27/2012
• Published: 11/20/2014
• Est. Priority Date: 12/03/2011
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Popovic, Aleksandra, Elhawary, Haytham, Hall, Christopher Stephen
• Granted Patent: US 10,414,792 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/3782 transmitter or receiver in catheter or minimal invasive instrument
• CPC Class Codes: A61B 2090/3784 both receiver and transmitter being in the instrument or receiver being also transmitter
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4218 characterised by articulated arms
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61K 47/26 Carbohydrates, e.g. sugar alcohols, amino sugars, nucleic acids, mono-, di- or oligo-saccharides; Derivatives thereof, e.g. polysorbates, sorbitan fatty acid esters or glycyrrhizin
• CPC Class Codes: A61K 47/28 Steroids, e.g. cholesterol, bile acids or glycyrrhetinic acid
• CPC Class Codes: A61K 9/107 Emulsions ; Emulsion preconcentrates; Micelles composition of emulsions A61K47/00
• CPC Class Codes: C07J 31/006 not covered by C07J31/003
• CPC Class Codes: C07J 41/0061 one of the carbon atoms being part of an amide group
• CPC Class Codes: C07J 43/003 not condensed
• CPC Class Codes: C07J 51/00 Normal steroids with unmodified cyclopenta(a)hydrophenanthrene skeleton not provided for in groups C07J1/00 - C07J43/00
• CPC Class Codes: C07J 9/00 Normal steroids containing carbon, hydrogen, halogen or oxygen substituted in position 17 beta by a chain of more than two carbon atoms, e.g. cholane, cholestane, coprostane
• CPC Class Codes: C07K 1/145 by extraction or solubilisation

Abstract

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.

Claims

1. A system for surgical robotic guidance, comprising:

a robotic system (122) having a robot (124) configured to pass to a target through a port (134), the robotic system including a visual component (102) employed in guiding the robot along a path to a location, the location being defined in accordance with a position and orientation of the robot; and

an ultrasonic probe (125) guided by the robot to the location to permit engagement of the probe to collect ultrasonic images at the location.

2. The system as recited in claim 1, wherein the visual component (102) includes an endoscope and the robot deploys the endoscope first and then deploys the ultrasonic probe such that visual images and ultrasonic images are taken at different times but at the same location.

3. The system as recited in claim 2, wherein the endoscope (102) and the probe (125) are detachable from the robot (124) and are employed sequentially.

4. The system as recited in claim 1, wherein the visual component (102) includes a camera (410) and the robot deploys the camera and the ultrasonic probe concurrently.

5. The system as recited in claim 4, wherein the camera (410) is mounted on the ultrasonic probe and visual images and ultrasonic image are acquired concurrently.

6. The system as recited in claim 1, further comprising a housing (502) coupled to an end effector of the robot and configured to deploy an endoscope (502), as the visual component, and the ultrasonic probe (504) concurrently, wherein the ultrasonic probe is moveable to engage tissue for acquiring images.

7. The system as recited in claim 6, wherein the ultrasonic probe (504) moves along a longitudinal axis of the housing.

8. The system as recited in claim 1, wherein the path (300) is determined based on one or more of:

a pre-operative image, a blood vessel image, a point to point mapping in an image and an overlay on an image.

9. A system for surgical robotic guidance, comprising:

a robotic system having a robot (624) configured to pass to a target through a port (614) to a location, the robotic system including an ultrasonic probe (602) guided by the robot to the location to permit engagement of the probe to collect ultrasonic images at the location; and

a passive arm (616) coupled to a visual component (604) and employed in separately guiding the visual component to the location, the location being defined in accordance with a position and orientation of the robot.

10. The system as recited in claim 9, wherein the visual component (604) includes an endoscope.

11. The system as recited in claim 9, wherein the visual component (604) includes a camera.

12. The system as recited in claim 9, wherein the robot and the passive arm are introduced into separate instrument ports (612, 614).

13. The system as recited in claim 9, wherein the path (300) is determined based on one or more of:

a pre-operative image, a blood vessel image, a point to point mapping in an image and an overlay on an image.

14. A method for surgical robotic guidance, comprising:

introducing (702) a robot having a visual guidance component to pass to a target through a port;

defining (704) a path to a location of the target for the robot; and

in accordance with a position and orientation of the robot, guiding (706) an ultrasonic probe along the path to permit engagement of the probe to collect ultrasonic images at positions along the path.

15. The method as recited in claim 14, wherein the visual component includes an endoscope and the method further comprises deploying (708) the endoscope first and then deploying the ultrasonic probe such that visual images and ultrasonic images are taken at different times.

16. The method as recited in claim 15, wherein the endoscope and the probe are detachable (710) from the robot and are employed separately in a same procedure.

17. The method as recited in claim 14, wherein the visual component includes a camera and the method further comprises deploying (712) the camera and the ultrasonic probe concurrently.

18. The method as recited in claim 17, wherein the camera is mounted (714) on the ultrasonic probe and visual images and ultrasonic image are acquired concurrently.

19. The method as recited in claim 14, further comprising a housing coupled to an end effector of the robot and configured to concurrently deploy an endoscope, as the visual component, and the ultrasonic probe, wherein the method includes actuating (718) the ultrasonic probe to engage tissue for acquiring images.

20. The method as recited in claim 19, wherein the ultrasonic probe moves along a longitudinal axis of the housing.

21. The method as recited in claim 14, wherein the path is determined based on one or more of:

a pre-operative image, a blood vessel image, a point to point mapping in an image and an overlay on an image.

22. A method for surgical robotic guidance, comprising:

introducing (802) a robot configured to pass to a target through a first port;

guiding (804) an ultrasonic probe by the robot to a location to permit engagement of the probe to collect ultrasonic images at the location; and

separately guiding (806) a visual component to the location through a second port, the location being defined in accordance with a position and orientation of the robot.

23. The method as recited in claim 22, wherein the visual component includes one of an endoscope and a camera.

24. The method as recited in claim 22, wherein separately guiding includes employing (808) a passive arm to guide the visual component.

25. The method as recited in claim 22, wherein the path is determined based on one or more of:

a pre-operative image, a blood vessel image, a point to point mapping in an image and an overlay on an image.