公开(公告)号：US20230346479A1

公开(公告)日：2023-11-02

申请号：US18041373

申请日：2021-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Leah Muller ,  Paris A. Hajali, Jr. ,  Hui Zhang

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/301 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: Systems, devices, methods, and computer program products for identifying and mitigating image-to-body divergence are disclosed herein. In some embodiments, a method includes receiving sensor data from a medical device while the medical device is inserted within an anatomic region of a patient and after it has been registered to an anatomic model of the anatomic region, where the anatomic model is based on previously-obtained image data of the anatomic region and includes a virtual path extending throughout the anatomic model to an anatomic structure of interest, and where sensor data indicates a location of at least a portion of the medical device; comparing the sensor data to a corresponding portion of the virtual path; based at least in part on the comparison, producing a divergence classifier indicative of a divergence of the anatomic region from the anatomic model; and generating an alert when the divergence classifier exceeds a predetermined threshold.