公开(公告)号：US20210259783A1

公开(公告)日：2021-08-26

申请号：US17253743

申请日：2019-06-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K Adebar ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/10

Abstract: A system includes one or more processors configured to read instructions to cause the system to perform operations including accessing a set of model points of a model of an anatomic structure of a patient. The model points is associated with a model space. The operations further include collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space, determining a set of matches between the set of model points and the set of measured points, determining a first plurality of weights for the set of matches, and registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration.