公开(公告)号：US20230061771A1

公开(公告)日：2023-03-02

申请号：US17968235

申请日：2022-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TAO ZHAO ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B34/20 ,  A61B1/005 ,  A61B1/04 ,  A61B1/267

Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

公开(公告)号：US20220378316A1

公开(公告)日：2022-12-01

申请号：US17879328

申请日：2022-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TAO ZHAO ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Timothy D. Soper ,  Frederico Barbagli

IPC: A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/73 ,  G06T7/149 ,  G06T7/50 ,  G06T7/00

Abstract: A system comprises a medical instrument including a sensing tool and comprises a processing unit including one or more processors. The processing unit is configured to receive data related to a patient anatomy from the sensing tool while the medical instrument traverses the patient anatomy. The processing unit is further configured to construct an anatomic model of the patient anatomy from the data received from the sensing tool. The processing unit is further configured to generate an image of the anatomic model for display and register a position of the medical instrument to the anatomic model.

公开(公告)号：US20160070878A1

公开(公告)日：2016-03-10

申请号：US14845031

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  TAO ZHAO ,  CAITLIN Q. DONHOWE ,  VINCENT DUINDAM ,  FEDERICO BARBAGLI

IPC: G06F19/00 ,  G06F3/0481 ,  A61B19/00

CPC classification number: G16H50/50 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/252

Abstract: A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

Abstract translation: 用于建模患者解剖结构的方法包括将第一建模功能应用于患者解剖结构的一组体积图像数据，以产生患者解剖结构的第一模型，向用户呈现第一模型，接收来自用户的输入，以及 基于输入生成修正后的模型。

公开(公告)号：US20150025392A1

公开(公告)日：2015-01-22

申请号：US14450251

申请日：2014-08-03

Applicant: Intuitive Surgical Operations Inc.

Inventor： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  CHRISTOPHER J. HASSER ,  BRIAN E. MILLER ,  CATHERINE J. MOHR ,  TAO ZHAO ,  SIMON DI MAIO ,  BRIAN D. HOFFMAN

IPC: A61B19/00

CPC classification number: A61B34/25 ,  A61B34/20 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/373 ,  G06T7/593 ,  G06T11/00 ,  G06T2207/10068 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30004 ,  H04N13/10 ,  H04N13/20 ,  H04N13/30 ,  H04N2013/0092

Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract translation: 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像相匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。