公开(公告)号：US20250017469A1

公开(公告)日：2025-01-16

申请号：US18902298

申请日：2024-09-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B10/04 ,  A61B17/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61M25/01

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

公开(公告)号：US12144564B2

公开(公告)日：2024-11-19

申请号：US17774797

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06V10/74

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

公开(公告)号：US20240374334A1

公开(公告)日：2024-11-14

申请号：US18780992

申请日：2024-07-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B5/107 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

Abstract: A method of using a control system for controlling a medical instrument within a patient anatomy comprises localizing the medical instrument relative to the patient anatomy and identifying an environmental factor for the localized medical instrument. The method also comprises receiving a motion scaling parameter determined from the environmental factor and receiving an input instruction from an operator input device movement in an operator frame. The method also comprises mapping the input instruction to an output instruction for a medical instrument movement in an anatomical frame. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction.

公开(公告)号：US12138012B2

公开(公告)日：2024-11-12

申请号：US17894849

申请日：2022-08-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B10/04 ,  A61B34/37 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00 ,  A61M25/01

Abstract: A system for performing a minimally invasive procedure includes a flexible catheter, an elongate instrument, an optical coherence tomographic sensor, and a control system. The flexible catheter has a lumen extending therethrough. The elongate instrument is sized for passage through the lumen. The optical coherence tomographic sensor is coupled to the elongate instrument. The control system includes one or more processors and is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, and determine a distance between the elongate instrument and the profiled tissue.

公开(公告)号：US20240281976A1

公开(公告)日：2024-08-22

申请号：US18652927

申请日：2024-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Michael D. Paris ,  Timothy D. Soper ,  Oliver J. Wagner

IPC: G06T7/00 ,  A61B6/00 ,  A61B6/12 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G06T11/00

CPC classification number: G06T7/0014 ,  A61B6/12 ,  A61B6/487 ,  A61B6/5235 ,  A61B34/10 ,  A61B34/20 ,  G06T11/003 ,  A61B6/5247 ,  A61B2034/105 ,  A61B2034/2046 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2090/3762 ,  G06T2207/10064 ,  G06T2207/10072 ,  G06T2207/30004

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

公开(公告)号：US20240245476A1

公开(公告)日：2024-07-25

申请号：US18602901

申请日：2024-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Tao Zhao ,  Federico Barbagli ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

公开(公告)号：US12023066B2

公开(公告)日：2024-07-02

申请号：US17177932

申请日：2021-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher R. Carlson ,  Federico Barbagli ,  Randall L. Schlesinger

IPC: A61B17/34 ,  A61B5/0538 ,  A61B5/06 ,  A61B10/02 ,  A61B10/04 ,  A61B10/06 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B17/3403 ,  A61B5/061 ,  A61B5/062 ,  A61B10/0283 ,  A61B10/04 ,  A61B5/0538 ,  A61B2010/045 ,  A61B10/06 ,  A61B2017/3405 ,  A61B2034/301 ,  A61B2090/064

Abstract: A non-transitory computer readable medium stores instructions which, when executed by one or more processors, are adapted to cause the one or more processors to: receive a command to initiate a medical procedure at a target location with a medical instrument; retrieve a predefined dynamic trajectory for the medical procedure; move the medical instrument according to the predefined dynamic trajectory to perform the medical procedure at the target location; detect a force received at a distal tip of the medical instrument during movement of the medical instrument; and determine a tissue impedance profile based on the detected force.

公开(公告)号：US11957424B2

公开(公告)日：2024-04-16

申请号：US17720151

申请日：2022-04-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Tao Zhao ,  Federico Barbagli ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A system includes an interventional instrument and a control system. The control system is configured to: generate a graphical user interface (GUI) including an image of a target region for deploying the interventional instrument, wherein the target region includes a plurality of target points and is determined by a probabilistic collection of the plurality of target points, wherein a size of the target region is based at least in part on a location of a target structure within a patient anatomy; responsive to an engagement of the interventional instrument with tissue in the target region, update the GUI to include an engagement location marker; and responsive to the engagement of the interventional instrument, update the GUI to include an image of a revised target region.

公开(公告)号：US11759262B2

公开(公告)日：2023-09-19

申请号：US15564509

申请日：2016-04-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10 ,  A61B34/35 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  G06T7/38 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B1/009 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  G06T7/0012 ,  G06T7/30 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/207 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/397 ,  A61B2090/3945 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US11723606B2

公开(公告)日：2023-08-15

申请号：US17127888

申请日：2020-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Tao Zhao ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

CPC classification number: A61B5/7425 ,  A61B1/00006 ,  A61B1/000094 ,  A61B1/045 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B5/7285 ,  A61B2017/00699 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.