US Patent No. 10,687,909

ROBOTIC CONTROL OF IMAGING DEVICES WITH OPTICAL SHAPE SENSING


Patent No. 10,687,909
Issue Date June 23, 2020
Title Robotic Control Of Imaging Devices With Optical Shape Sensing
Inventorship David Paul Noonan, New York, NY (US)
Molly Lara Flexman, Melrose, MA (US)
Aleksandra Popovic, Boston, MA (US)
Assignee KONINKLIJKE PHILIPS N.V., Eindhoven (NL)

Claim of US Patent No. 10,687,909

1. A system for tracking and coordinating movement of a probe of an intraoperative imaging system with movement of a shape sensing enabled instrument, whereina probe head on a curved end portion of the intraoperative imaging system is configured to generate an image of an image region of a subject;
the shape sensing enabled instrument having at least an end portion moveable in the subject relative to a target region, the shape sensing enabled instrument having a coordinate system, the shape sensing enabled instrument coordinate system being registered with a coordinate system of the intraoperative imaging system;
a robot configured to steer the probe head to move along points on a sphere between a start position and a target position, the points on the sphere defining a range of motion permitted between the start position and the target position, each of the points on the sphere corresponding to an orientation of the image region, the target position being a point on the sphere which orients the image region to include at least the end of the shape sensing enabled instrument;
a robot control system configured to receive an output from the shape sensing enabled instrument indicative of a location of the end portion of the shape sensing enabled instrument and recompute the target position as the end portion of the shape sensing enabled instrument moves to maintain the end portion of the shape sensing enabled instrument in the image region and control the robot to move the probe head to the recomputed target position.