Invention Grant
- Patent Title: Systems and methods for registration of a medical device using rapid pose search
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Application No.: US13892924Application Date: 2013-05-13
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Publication No.: US10376178B2Publication Date: 2019-08-13
- Inventor: Prashant Chopra
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
- Current Assignee Address: US CA Sunnyvale
- Agency: Haynes and Boone, LLP
- Main IPC: A61B5/06
- IPC: A61B5/06 ; A61B34/10 ; A61B34/20 ; A61B34/30 ; A61B90/00 ; A61B17/00
Abstract:
A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.
Public/Granted literature
- US20130303891A1 Systems and Methods for Registration of a Medical Device Using Rapid Pose Search Public/Granted day:2013-11-14
Information query
