Image ntegration and robotic endoscope control in x-ray suite

Patent metadata

Field	Value
Publication number	US-2017196643-A1
Application number	US-201515324001-A
Country	US
Kind code	A1
Filing date	Jul 14, 2015
Priority date	Jul 15, 2014
Publication date	Jul 13, 2017
Grant date	—

Abstract

A workstation for calibrating a robotic instrument ( 42 ) having a distal tip ( 46 ) within an X-ray image space ( 35 ). The workstation employs a calibration controller ( 50 ) for calibrating an RCM length of the robotic instrument ( 42 ) responsive to X-ray images ( 36 ) of different poses of the distal tip ( 46 ) of the robotic instrument ( 42 ) within the X-ray image space ( 35 ), and further employs a robotic instrument controller ( 40 ) for controlling a guidance of the robotic instrument ( 42 ) within the X-ray image space ( 35 ) from the RCM calibration. The robotic instrument ( 42 ) may include an endoscope whereby the calibration controller ( 50 ) is further employed to calibrate a focal length of the robotic instrument ( 42 ) responsive to the X-ray images ( 36 ) and one or more endoscope image(s) ( 48 ) of the X-ray image space ( 35 ) for guidance within the X-ray image space ( 35 ) from the RCM/focal length calibrations.

First claim

1 . A workstation for calibrating a robotic instrument having a distal tip within an X-ray image space of an X-ray modality, the workstation comprising:
a calibration controller operable to control a calibration of a RCM length of the robotic instrument responsive to a generation by the X-ray modality of a plurality of X-ray images of different poses of the distal tip of the robotic instrument within the X-ray image space; and a robotic instrument controller operable in communication with the calibration controller to control a guidance of the robotic instrument within the X-ray image space as a function of the calibration by the calibration controller of the RCM length of the robotic instruments.

2 . The workstation of claim 1 , wherein the calibration controller is operable to control the calibration of the RCM length of the robotic instrument as the X-ray images are being generated by the X-ray modality.

3 . The workstation of claim 1 , wherein a control of the calibration by the calibration controller of the RCM length of the robotic instrument includes:
the calibration controller operable to compute the RCM length of the robotic instrument responsive to at least two of the X-ray images.

4 . The workstation of claim 3 , wherein a computation by the calibration controller of the RCM length of the robotic instrument includes:
the calibration controller operable to delineate the robotic instrument within an image plane of each of the at least two of the X-ray images.

5 . The workstation of claim 4 , wherein the computation by the calibration controller of the RCM length of the robotic instrument further includes:
the calibration controller operable to compute the RCM length of the robotic instrument as a function of an intersection of the robotic instrument as delineated within the image planes of the at least two X-ray images.

6 . The workstation of claim 1 ,
wherein the robotic instrument includes an endoscope; and wherein the calibration controller is further operable to control a calibration of a focal length of the robotic instrument responsive to the generation by the X-ray modality of the X-ray images and further responsive to a generation by the robotic instrument of at least one endoscope image of the X-ray image space.

7 . The workstation of claim 6 , wherein the calibration controller is operable to control the calibration of the focal length of the robotic instrument as the X-ray images are being generated by the X-ray modality and as the at least one endoscope image is being generated by the robotic instrument.

8 . The workstation of claim 7 , wherein the robotic instrument controller is further operable in communication with the calibration controller to control a guidance of the robotic instrument within the X-ray image space as a function of the calibration by the calibration controller of the RCM length and the focal length of the robotic instrument.

9 . The workstation of claim 6 , wherein the calibration controller is further operable to integrate the X-ray images and the at least one endoscope image as a function of the calibration of the focal length of the robotic instrument.

10 . The workstation of claim 9 , further comprising:
a display controller operable in communication with the calibration controller to control a display of the integration by the calibration controller of the X-ray images and the at least one endoscope image.

11 . The workstation of claim 6 , wherein a control of the calibration by the calibration controller of the focal length of the robotic instrument includes:
the calibration controller operable to compute the focal length of the robotic instrument responsive to at least three of the X-ray images and the at least one endoscope image.

12 . The workstation of claim 11 , wherein a computation by the calibration controller of the focal length further includes:
the calibration controller operable to register the X-ray imaging modality to the robotic instrument responsive to the at least three X-ray images.

13 . The workstation of claim 12 , wherein the computation by the calibration controller of the focal length of the robotic instrument further includes:
the calibration controller operable to execute a point matching between the at least three X-ray images and the at least one endoscope image based on a registration of the X-ray imaging modality to the robotic instrument.

14 . The workstation of claim 13 , wherein the computation by the calibration controller of the focal length of the robotic instrument further includes:
the calibration controller operable to compute the focal length of the robotic instrument) as function of the registration of the X-ray imaging modality to the robotic instrument and further as a function of the point matching between the at least three X-ray images and the at least one endoscope image.

15 . A calibration controller for calibrating a robotic instrument including an endoscope having a distal tip within an X-ray image space of an X-ray modality, the calibration controller comprising:
a robotic instrument calibrator operable to calibrate an RCM length and a focal length of the robotic instrument responsive to a generation by the X-ray modality of a plurality of X-ray images of different poses of the distal tip of the robotic instrument within the X-ray image space and further responsive to a generation by the robotic instrument of at least one endoscope image of the X-ray image space; and an image integrator operable in communication with the robotic instrument calibrator and the at least one endoscope image and the at least one endoscope image responsive to a calibration by the robotic instrument calibrator of the RCM length and the focal length of the robotic instrument.

16 . A calibration method for calibrating a robotic instrument having a distal tip within an X-ray image space of an X-ray modality, the calibration method comprising:
an X-ray controller controlling a generation by an X-ray modality of a plurality of X-ray images of different poses of the distal tip of the robotic instrument within the X-ray image space; and a calibration controller controlling a calibration of an RCM length of the robotic instrument responsive to the generation by the X-ray modality of the X-ray images.

17 . The calibration method of claim 16 , wherein the calibration controller controls the calibration of the RCM length of the robotic instrument as the X-ray images are being generated by the X-ray modality.

18 . The calibration method of claim 16 , further comprising:
a robotic instrument controller controlling a generation by the robotic instrument of at least one endoscope image of the X-ray image space,
wherein the robotic instrument includes an endoscope; and
the calibration controller controlling a calibration of focal length of the robotic instrument responsive to the generation by the X-ray modality of the X-ray images and further responsive to the generation by the robotic instrument of at least one endoscope image of the X-ray image space.

19 . The calibration method of claim 18 , wherein the calibration controller controls the calibration of the RCM length and the focal length of the robotic instrument as the X-ray images are being generated by the X-ray modality and as the at least one endoscope image is being generated by the robotic instrument.

20 . The calibration method of claim 18 , further comprising at least one of:
the calibration controller controlling an integration of the X-ray image

Assignees

• Koninklijke Philips Nv

Inventors

• Popovic Aleksandra
• Reinstein Aryeh Leib
• Noonan David Paul

Classifications

• A61B2560/0223

  of calibration, e.g. protocols for calibrating sensors · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title