Granted Patent B2

US 12,295,679 · App. 17/773,644 · Granted May 13, 2025

Inventors: Marcin Arkadiusz Balicki (Cambridge, MA); Alexandru Patriciu (Belmont, MA)

Assignee: KONINKLIJKE PHILIPS N.V.

A61B34/30A61B34/10A61B34/20A61B90/37B25J9/1653B25J9/1666A61B2034/107A61B2034/2051A61B2034/2055A61B2034/2063A61B2034/2065A61B2090/3764A61B2090/378

Abstract

Claims (62)

1. A system for instrument positioning, comprising:

a robotic system with a robotic arm having four or more degrees of freedom, DOF, of control; and

a system controller with an interface unit;

wherein the robotic arm comprises an instrument interface connectable to an instrument;

wherein the instrument has an elongated shape;

wherein the interface unit of the system controller is configured to provide sensor data comprising pose information of the instrument and target position with respect to an object of interest, wherein the pose information of the instrument comprises location and orientation of the instrument;

wherein the interface unit of the system controller is further configured to provide image data at the target position, wherein a target trajectory is planned in the image data for positioning the instrument to the target position and wherein the target trajectory is defined by a skin entry point and the target point; and

wherein the system controller is configured to:

transfer the pose information of the instrument and the planned target trajectory into an object coordinate system;

calculate a positional error between the tracked pose information of the instrument and the planned target trajectory;

control the robotic arm during a first motion of the robotic arm for each new targeting session to move the instrument in a predefined movement to generate a rough six degrees of freedom registration between the object coordinate system and a robot coordinate system based on pose information before the movement and pose information after the movement for each of the instrument and the robotic arm, wherein the predefined movement comprises a predefined rotational movement; and

transfer the positional error into the robot coordinate system of the robotic system for controlling the robotic arm to align the instrument with the planned target trajectory, wherein the positional error comprises at least one of a translational error and a rotational error.

2. The system according to claim 1 , wherein generating a rough six degree of freedom registration between the object coordinate system and the robot coordinate system is based on:

collecting two robot poses and two instrument positions before and after the predefined movement;

determining an instrument translation component based on calculating the closest point between two line vectors representing the instrument axis from the instrument positions before and after rotation using the least squares approach;

creating an instrument rotation component from the normal of the two instrument line vectors using the standard cross product method;

creating an object registration between the object coordinate system and a temporary coordinate system based on the instrument translation component and the instrument rotation component, wherein the temporary coordinate system corresponds to the robot's center of motion, RCM;

determining a robot translation component based on calculating the closest point between two line vectors representing the robot axis from the robot poses before and after rotation using the least squares approach;

creating a robot rotation component from the normal of the two robot line vectors using the standard cross product method;

creating a robot registration between the robot coordinate system and the temporary coordinate system based on the robot translation component and the robot rotation component; and

generating a rough six degree of freedom registration between the object coordinate system and the robot coordinate system based on the object registration and the robot registration.

3. The system according to claim 1 ,

wherein the sensor data comprises real-time pose information of the instrument with respect to the target position; and

wherein the system controller is configured to calculate a real-time positional error between the tracked pose information of the instrument and the planned target trajectory and transfer the real-time positional error into the robot coordinate system of the robotic system for iteratively controlling the robotic arm to align the instrument with the planned target trajectory.

4. The system according to claim 1 ,

wherein the system controller is further configured to apply the rough six degrees of freedom registration for controlling the robotic arm to align the instrument with the planned target trajectory, when the sensor data does not comprise the pose information of the instrument.

5. The system according to claim 1 , further comprising:

a tracking system configured to obtain the sensor data comprising the pose information of the interventional instrument and the target position of the object of interest;

wherein the tracking system comprises at least one of:

an optical tracking system;

an electromagnetic tracking system; and

an acoustic tracking system.

6. The system according to any one of claim 5 ,

wherein the tracking system is located on or inside a detector of the image acquisition system.

7. The system according to claim 1 , further comprising:

an image acquisition system configured to acquire the image data at the target position of the object of interest;

wherein the image acquisition system comprises at least one of:

an X-ray imaging device;

an ultrasound imaging device; and

a magnetic resonance imaging device.

8. The system according to claim 1 ,

wherein the robotic arm comprises a mechanical Remote-Center-of-Motion, RCM, mechanism having at least one degree of freedom of rotational control; and

wherein the instrument interface is mounted on the RCM mechanism.

9. The system according to claim 1 ,

wherein the system controller is configured to control the robotic arm to align the instrument with the planned target trajectory while the instrument translating in a safety plane for preventing collisions.

10. The system according to claim 1 ,

wherein the sensor data comprises pose information of the robotic arm.

11. The system according to claim 1 ,

wherein the instrument comprises an interventional instrument.

12. The system according to claim 11 ,

wherein the interventional instrument comprises at least one of:

an injection needle;

an interventional catheter; and

an interventional laser device.

13. A method of controlling a system according to claim 1 , comprising the following steps:

receiving, by an interface unit of a system controller of the system, sensor data comprising pose information of an interventional instrument with respect to a target position relative to an object of interest, wherein the pose information of the instrument comprises location and orientation of the instrument;

receiving, by the interface unit of the system controller, image data at the target position, wherein a target trajectory is planned in the image data for positioning the instrument to the target position and wherein the target trajectory is defined by a skin entry point and the target point; and

transferring, by a system controller of the system, the pose information of the instrument and the planned target trajectory into an object coordinate system, calculating a positional error between the tracked pose information of the instrument and the planned target trajectory;

controlling a robotic arm during a first motion of the robotic arm for each new targeting session to move the instrument in a predefined movement to generate a rough six degrees of freedom registration between the object coordinate system and a robot coordinate system based on pose information before the movement and pose information after the movement for each of the instrument and the robotic arm, wherein the predefined movement comprises a predefined rotational movement during which movement the instrument is not positioned in a living body; and

transferring the positional error into a robot coordinate system of the robotic system for controlling the robotic arm to align the instrument with the planned target trajectory, during which alignment the instrument is not positioned in a living body, wherein the positional error comprises at least one of a translational error and a rotational error.

14. A non-transitory computer program element for controlling an apparatus, which, when being executed by a processing unit, is adapted to perform the method of claim 13 .

15. A non-transitory computer readable medium having stored the program element of claim 14 .

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (15)