公开(公告)号：US20230011019A1

公开(公告)日：2023-01-12

申请号：US17786379

申请日：2020-12-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TIMOTHY D. SOPER

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/50 ,  G06V10/24

Abstract: A system receives a first set of points corresponding to an anatomical feature. Each point in the first set of points represents a position in a first frame. The system receives a second set of points corresponding to the anatomical feature. Each point in the second set of points represents a position in a second frame. The system identifies a first subset of the first set of points and determines a first transformation to align the first subset of the first set of points with the second set of points. The first set of points is transformed based on the first transformation. The system identifies a second subset of the first set of points and determines a second transformation to align the first and second subsets of the first set of points with the second set of points. The first set of points are transformed based on the second transformation.

公开(公告)号：US20230281841A1

公开(公告)日：2023-09-07

申请号：US17913770

申请日：2021-03-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： TIMOTHY D. SOPER ,  Hui Zhang

IPC: G06T7/37 ,  A61B34/20 ,  G06T11/00

CPC classification number: G06T7/37 ,  A61B34/20 ,  G06T11/001 ,  A61B2034/2061 ,  A61B34/30

Abstract: Devices, systems, methods, and computer program products for combining positional sensor data and endoscopic image data to improve registrations between (i) real patient anatomy within an anatomic region navigated by a medical instrument system and (ii) an image of the anatomic region generated from preoperative and/or intraoperative imaging are disclosed herein. When adequately registered, the tracked position of the medical instrument system within the anatomic region can be mapped to a correct position within the anatomic model for use in, for example, image-guided medical procedures. In some embodiments, the present technology provides visual guidance following registration in the form of a virtual navigational image from a viewpoint of the medical instrument system that is generated within the anatomic model at a location corresponding to a location of the medical instrument system within the anatomic region.

公开(公告)号：US20230162380A1

公开(公告)日：2023-05-25

申请号：US17914562

申请日：2021-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TIMOTHY D. SOPER

IPC: G06T7/30 ,  G06T7/20 ,  G06T7/70

CPC classification number: G06T7/30 ,  G06T7/20 ,  G06T7/70 ,  G06T2207/30061 ,  G06T2207/10028 ,  G06T2207/10068

Abstract: Disclosed are systems and methods for mitigating oversampling of data points collected by a medical device. In some aspects, a system is configured to receive data points of a sampled survey point cloud detected by a sensor of the medical device during surveying of an anatomic structure; determine, during the surveying, at least one parameter associated with (i) the medical device and/or (ii) the received data points detected by the sensor, including a change of translational and/or rotational motion of the medical device, a distance from a data point to a nearest neighbor within the sampled survey point cloud, or a density of the data points of a sub-set of the sampled survey point cloud corresponding to sub-region of the anatomic structure; analyze the parameter(s) by comparing it to a threshold; and record individual data points in a registration point cloud when the analyzed parameter(s) satisfies the respective threshold.