BR112013005879A2 - ''sistema de orientação de robôs, unidades de controle para um endoscópio e método de orientação de robôs'' - Google Patents
''sistema de orientação de robôs, unidades de controle para um endoscópio e método de orientação de robôs''Info
- Publication number
- BR112013005879A2 BR112013005879A2 BR112013005879A BR112013005879A BR112013005879A2 BR 112013005879 A2 BR112013005879 A2 BR 112013005879A2 BR 112013005879 A BR112013005879 A BR 112013005879A BR 112013005879 A BR112013005879 A BR 112013005879A BR 112013005879 A2 BR112013005879 A2 BR 112013005879A2
- Authority
- BR
- Brazil
- Prior art keywords
- robot guidance
- endoscope
- control units
- robot
- guidance system
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3137—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for examination of the interior of blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
- A61B2017/00247—Making holes in the wall of the heart, e.g. laser Myocardial revascularization
- A61B2017/00252—Making holes in the wall of the heart, e.g. laser Myocardial revascularization for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
- A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10068—Endoscopic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20072—Graph-based image processing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30101—Blood vessel; Artery; Vein; Vascular
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US38298010P | 2010-09-15 | 2010-09-15 | |
PCT/IB2011/053998 WO2012035492A1 (en) | 2010-09-15 | 2011-09-13 | Robotic control of an endoscope from blood vessel tree images |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112013005879A2 true BR112013005879A2 (pt) | 2016-05-10 |
Family
ID=44736002
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112013005879A BR112013005879A2 (pt) | 2010-09-15 | 2011-09-13 | ''sistema de orientação de robôs, unidades de controle para um endoscópio e método de orientação de robôs'' |
Country Status (7)
Country | Link |
---|---|
US (2) | US9615886B2 (pt) |
EP (1) | EP2615993B1 (pt) |
JP (1) | JP5955847B2 (pt) |
CN (1) | CN103108602B (pt) |
BR (1) | BR112013005879A2 (pt) |
RU (1) | RU2594813C2 (pt) |
WO (1) | WO2012035492A1 (pt) |
Families Citing this family (48)
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BR112014019059A8 (pt) * | 2012-02-06 | 2017-07-11 | Koninklijke Philips Nv | Sistema de registro de imagem |
CN104302241B (zh) | 2012-05-14 | 2018-10-23 | 直观外科手术操作公司 | 用于使用减小的搜索空间的医疗设备的配准系统和方法 |
US10039473B2 (en) | 2012-05-14 | 2018-08-07 | Intuitive Surgical Operations, Inc. | Systems and methods for navigation based on ordered sensor records |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US11963755B2 (en) | 2012-06-21 | 2024-04-23 | Globus Medical Inc. | Apparatus for recording probe movement |
US11896446B2 (en) | 2012-06-21 | 2024-02-13 | Globus Medical, Inc | Surgical robotic automation with tracking markers |
US11786324B2 (en) | 2012-06-21 | 2023-10-17 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11589771B2 (en) | 2012-06-21 | 2023-02-28 | Globus Medical Inc. | Method for recording probe movement and determining an extent of matter removed |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US11974822B2 (en) | 2012-06-21 | 2024-05-07 | Globus Medical Inc. | Method for a surveillance marker in robotic-assisted surgery |
US10842461B2 (en) | 2012-06-21 | 2020-11-24 | Globus Medical, Inc. | Systems and methods of checking registrations for surgical systems |
US10874466B2 (en) | 2012-06-21 | 2020-12-29 | Globus Medical, Inc. | System and method for surgical tool insertion using multiaxis force and moment feedback |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US11278182B2 (en) | 2012-06-28 | 2022-03-22 | Koninklijke Philips N.V. | Enhanced visualization of blood vessels using a robotically steered endoscope |
RU2686954C2 (ru) * | 2012-06-28 | 2019-05-06 | Конинклейке Филипс Н.В. | Навигация с помощью оптоволоконного датчика для визуализации и мониторинга сосудов |
JP6320374B2 (ja) * | 2012-06-28 | 2018-05-09 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 内視鏡画像におけるフォトプレチスモグラフィーを用いて開存性を評価するシステム及びシステムの作動方法 |
KR102301021B1 (ko) | 2012-08-14 | 2021-09-13 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 다중 비전 시스템의 정합을 위한 시스템 및 방법 |
EP2996617B1 (en) | 2013-05-09 | 2021-04-14 | Koninklijke Philips N.V. | Robotic control of an endoscope from anatomical features |
JP6480938B2 (ja) * | 2013-09-06 | 2019-03-13 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | ナビゲーションシステム |
CN105934216B (zh) * | 2014-01-24 | 2019-09-17 | 皇家飞利浦有限公司 | 机器人引导系统、控制单元和装置 |
JP6649260B2 (ja) | 2014-02-04 | 2020-02-19 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 血管の深さ及び位置の可視化並びに血管断面のロボットガイド可視化 |
WO2015121764A1 (en) | 2014-02-11 | 2015-08-20 | Koninklijke Philips N.V. | Spatial visualization of internal mammary artery during minimally invasive bypass surgery |
KR102405687B1 (ko) | 2014-03-28 | 2022-06-07 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술용 임플란트의 정량적 3차원 영상화 및 프린팅 |
CN106456252B (zh) | 2014-03-28 | 2020-05-08 | 直观外科手术操作公司 | 手术场景的定量三维成像 |
JP6854237B2 (ja) | 2014-03-28 | 2021-04-07 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 視野内の器具の定量的三次元視覚化 |
US10555788B2 (en) | 2014-03-28 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Surgical system with haptic feedback based upon quantitative three-dimensional imaging |
JP6609616B2 (ja) | 2014-03-28 | 2019-11-20 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | マルチポートの視点からの手術シーンの定量的な3次元イメージング |
CN112998861A (zh) * | 2015-02-26 | 2021-06-22 | 柯惠Lp公司 | 用软件及导管以机器人方式控制远程运动中心 |
EP3397187A1 (en) | 2015-12-30 | 2018-11-07 | Koninklijke Philips N.V. | Image based robot guidance |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
JP6733046B2 (ja) | 2016-08-22 | 2020-07-29 | キヤノン株式会社 | 連続体ロボット、連続体ロボットの運動学モデルの補正方法、および連続体ロボットの制御方法 |
US9931025B1 (en) * | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
EP3551117A1 (en) | 2016-12-07 | 2019-10-16 | Koninklijke Philips N.V. | Image guided motion scaling for robot control |
US11123139B2 (en) | 2018-02-14 | 2021-09-21 | Epica International, Inc. | Method for determination of surgical procedure access |
US10430949B1 (en) * | 2018-04-24 | 2019-10-01 | Shenzhen Keya Medical Technology Corporation | Automatic method and system for vessel refine segmentation in biomedical images using tree structure based deep learning model |
JP6979049B2 (ja) * | 2018-06-07 | 2021-12-08 | グローバス メディカル インコーポレイティッド | 自然基準を使用した共登録を提供するロボットシステムおよび関連方法 |
JP7127785B2 (ja) * | 2018-11-30 | 2022-08-30 | オリンパス株式会社 | 情報処理システム、内視鏡システム、学習済みモデル、情報記憶媒体及び情報処理方法 |
USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
WO2023101968A1 (en) | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Steerable overtube assemblies for robotic surgical systems |
WO2023148812A1 (ja) * | 2022-02-01 | 2023-08-10 | 日本電気株式会社 | 画像処理装置、画像処理方法及び記憶媒体 |
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JPH08164148A (ja) * | 1994-12-13 | 1996-06-25 | Olympus Optical Co Ltd | 内視鏡下手術装置 |
AU2001224721A1 (en) * | 2000-01-10 | 2001-08-07 | Super Dimension Ltd. | Methods and systems for performing medical procedures with reference to projective images and with respect to pre-stored images |
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JP4656700B2 (ja) | 2000-07-11 | 2011-03-23 | オリンパス株式会社 | 内視鏡外科手術システム |
WO2003086498A2 (en) * | 2002-04-17 | 2003-10-23 | Super Dimension Ltd. | Endoscope structures and techniques for navigating to a target in branched structure |
FR2855292B1 (fr) * | 2003-05-22 | 2005-12-09 | Inst Nat Rech Inf Automat | Dispositif et procede de recalage en temps reel de motifs sur des images, notamment pour le guidage par localisation |
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RU2290055C2 (ru) * | 2004-04-06 | 2006-12-27 | Государственное образовательное учреждение высшего профессионального образования Новосибирская государственная медицинская академия Министерства здравоохранения Российской Федерации | Нейронавигационная эндоскопическая система |
US7646903B2 (en) * | 2005-06-22 | 2010-01-12 | Siemens Medical Solutions Usa, Inc. | System and method for path based tree matching |
US20070167784A1 (en) * | 2005-12-13 | 2007-07-19 | Raj Shekhar | Real-time Elastic Registration to Determine Temporal Evolution of Internal Tissues for Image-Guided Interventions |
US7804990B2 (en) | 2006-01-25 | 2010-09-28 | Siemens Medical Solutions Usa, Inc. | System and method for labeling and identifying lymph nodes in medical images |
US9037215B2 (en) * | 2007-01-31 | 2015-05-19 | The Penn State Research Foundation | Methods and apparatus for 3D route planning through hollow organs |
US8672836B2 (en) | 2007-01-31 | 2014-03-18 | The Penn State Research Foundation | Method and apparatus for continuous guidance of endoscopy |
US20090156895A1 (en) * | 2007-01-31 | 2009-06-18 | The Penn State Research Foundation | Precise endoscopic planning and visualization |
US8821376B2 (en) * | 2007-03-12 | 2014-09-02 | David Tolkowsky | Devices and methods for performing medical procedures in tree-like luminal structures |
DE102008016146B4 (de) | 2008-03-28 | 2010-01-28 | Aktormed Gmbh | Operations-Assistenz-System zur Führung eines chirurgischen Hilfsinstrumentes |
JP5372406B2 (ja) * | 2008-05-23 | 2013-12-18 | オリンパスメディカルシステムズ株式会社 | 医療機器 |
JP5572440B2 (ja) * | 2009-09-15 | 2014-08-13 | 富士フイルム株式会社 | 診断支援システム、診断支援プログラムおよび診断支援方法 |
US20120071753A1 (en) * | 2010-08-20 | 2012-03-22 | Mark Hunter | Apparatus and method for four dimensional soft tissue navigation including endoscopic mapping |
-
2011
- 2011-09-13 EP EP11764337.9A patent/EP2615993B1/en active Active
- 2011-09-13 WO PCT/IB2011/053998 patent/WO2012035492A1/en active Application Filing
- 2011-09-13 US US13/822,001 patent/US9615886B2/en active Active
- 2011-09-13 BR BR112013005879A patent/BR112013005879A2/pt not_active Application Discontinuation
- 2011-09-13 CN CN201180044480.6A patent/CN103108602B/zh active Active
- 2011-09-13 JP JP2013528806A patent/JP5955847B2/ja active Active
- 2011-09-13 RU RU2013116901/14A patent/RU2594813C2/ru active
-
2017
- 2017-04-10 US US15/483,615 patent/US10182704B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2013541365A (ja) | 2013-11-14 |
US10182704B2 (en) | 2019-01-22 |
RU2594813C2 (ru) | 2016-08-20 |
CN103108602A (zh) | 2013-05-15 |
EP2615993B1 (en) | 2015-03-18 |
WO2012035492A1 (en) | 2012-03-22 |
RU2013116901A (ru) | 2014-10-20 |
CN103108602B (zh) | 2015-09-30 |
EP2615993A1 (en) | 2013-07-24 |
US9615886B2 (en) | 2017-04-11 |
JP5955847B2 (ja) | 2016-07-20 |
US20130165948A1 (en) | 2013-06-27 |
US20170209028A1 (en) | 2017-07-27 |
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B25D | Requested change of name of applicant approved |
Owner name: KONINKLIJKE PHILIPS N.V. (NL) |
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Owner name: KONINKLIJKE PHILIPS N.V. (NL) |
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B15K | Others concerning applications: alteration of classification |
Ipc: A61B 1/00 (2006.01), A61B 1/05 (2006.01), A61B 1/3 |
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B06F | Objections, documents and/or translations needed after an examination request according art. 34 industrial property law | ||
B06U | Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure | ||
B11B | Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements |