US 12,376,738 B2
Image guided robotic system for tumor aspiration
Aleksandra Popovic, Boston, MA (US); and David Paul Noonan, New York, NY (US)
Assigned to KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
Filed by KONINKLIJKE PHILIPS N.V., Eindhoven (NL)
Filed on Jul. 7, 2022, as Appl. No. 17/859,052.
Application 17/859,052 is a continuation of application No. 16/086,907, granted, now 11,399,901, previously published as PCT/EP2017/057704, filed on Mar. 31, 2017.
Claims priority of provisional application 62/315,915, filed on Mar. 31, 2016.
Prior Publication US 2022/0331027 A1, Oct. 20, 2022
Int. Cl. A61B 1/00 (2006.01); A61B 1/018 (2006.01); A61B 1/04 (2006.01); A61B 5/06 (2006.01); A61B 17/22 (2006.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61M 25/01 (2006.01)
CPC A61B 1/04 (2013.01) [A61B 1/00009 (2013.01); A61B 1/00087 (2013.01); A61B 1/00094 (2013.01); A61B 1/00149 (2013.01); A61B 1/0016 (2013.01); A61B 1/018 (2013.01); A61B 5/06 (2013.01); A61B 17/22 (2013.01); A61B 34/30 (2016.02); A61B 34/32 (2016.02); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 1/00039 (2013.01); A61B 1/00045 (2013.01); A61B 2017/0034 (2013.01); A61B 2017/22079 (2013.01); A61B 2018/00982 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/364 (2016.02); A61B 2217/005 (2013.01); A61B 2218/007 (2013.01); A61M 25/0116 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot controller comprising:
a memory; and
at least one processor coupled to the memory and configured to:
receive from an imaging device images of a region of interest,
identify at least one target region in the images,
generate control signals to control a robot configured to move a treatment device comprising an aspiration device within the region of interest, wherein the control signals are generated to control the robot to position the aspiration device a predefined distance to the at least one target region,
determine pressure of aspiration by the aspiration device based on the predefined distance of the positioned aspiration device to the at least one target region, wherein the predefined distance is greater than zero, and
control aspiration by the aspiration device based on the determined pressure of aspiration, wherein the at least one processor is configured to control the aspiration device based on a plurality of non-zero values for the pressure of aspiration as determined based on the pre-defined distance.