发明名称 |
Robotic instrument systems and methods utilizing optical fiber sensors |
摘要 |
The present application is directed to a medical system comprising: an elongate instrument, an optical sensor system operatively coupled to the elongate instrument and configured to supply localization data indicative of a spatial position of at least a portion of the elongate instrument, and a controller configured to control the movement of the elongate instrument based at least in part upon a comparison of an actual position of the elongate instrument derived from the localization data to a projected position of the instrument derived from a kinematic model of the elongate instrument. Further, the present application is directed to a corresponding method for controlling movement of an elongate instrument, comprising the steps of: coupling an optical sensor system to the elongate instrument; providing, using the optical sensor system, localization data indicative of a spatial position of at least a portion of the elongate instrument; comparing, using a processor, an actual position of the elongate instrument derived from the localization data to a projected position of the instrument derived from a kinematic model of the elongate instrument; and controlling, using a controller, the movement of the elongate instrument based at least in part upon the comparison. |
申请公布号 |
EP2626027(A3) |
申请公布日期 |
2017.02.15 |
申请号 |
EP20130151245 |
申请日期 |
2008.08.14 |
申请人 |
Koninklijke Philips N.V. |
发明人 |
Ramamurthy, Bhaskar, S.;Tanner, Neal, A.;Younge, Robert G.;Schlesinger, Randall, L. |
分类号 |
A61B34/20;A61B5/00;A61B5/06;A61B6/12;A61B34/00;A61B34/30;A61B34/37;A61B90/00;A61B90/96;A61B90/98;A61M25/01;G01B11/16;G01L1/24 |
主分类号 |
A61B34/20 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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