公开(公告)号：US12004820B2

公开(公告)日：2024-06-11

申请号：US17532369

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/20 ,  A61B1/00 ,  A61B5/00 ,  A61B5/01 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/12 ,  G06T7/33

CPC classification number: A61B34/20 ,  A61B1/0016 ,  A61B5/0066 ,  A61B5/015 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/062 ,  A61B5/066 ,  A61B6/032 ,  A61B8/0841 ,  A61B34/30 ,  A61B34/35 ,  A61B90/37 ,  G06T7/12 ,  G06T7/33 ,  G06T7/344 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  G06T2200/24 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10116 ,  G06T2207/30061 ,  G06T2207/30172

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.

公开(公告)号：US20240090963A1

公开(公告)日：2024-03-21

申请号：US18521863

申请日：2023-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/37 ,  A61B1/00 ,  A61B34/10 ,  A61B34/20 ,  G06F30/23 ,  G06T3/00 ,  G06T7/33 ,  G06T17/20

CPC classification number: A61B34/37 ,  A61B1/000094 ,  A61B1/00147 ,  A61B34/10 ,  A61B34/20 ,  G06F30/23 ,  G06T3/0068 ,  G06T7/344 ,  G06T17/20 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

公开(公告)号：US20240065779A1

公开(公告)日：2024-02-29

申请号：US18491494

申请日：2023-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/00 ,  A61B34/32 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2034/2061 ,  A61B2034/301

Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

公开(公告)号：US20240023902A1

公开(公告)日：2024-01-25

申请号：US18339127

申请日：2023-06-21

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

CPC classification number: A61B5/7425 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00006 ,  A61B1/045 ,  A61B1/000094 ,  A61B2034/2061 ,  A61B2034/2051 ,  A61B2017/00699

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

公开(公告)号：US11832891B2

公开(公告)日：2023-12-05

申请号：US16306418

申请日：2017-06-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B34/32 ,  A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2017/00075 ,  A61B2017/00119 ,  A61B2017/00809 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2560/0276

Abstract: A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.

公开(公告)号：US11636597B2

公开(公告)日：2023-04-25

申请号：US16950980

申请日：2020-11-18

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 ,  G06T11/00 ,  A61B34/20 ,  A61B6/12 ,  A61B6/00 ,  A61B90/00

Abstract: A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.

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：US11490793B2

公开(公告)日：2022-11-08

申请号：US15397158

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B1/00 ,  A61B1/01 ,  A61B1/005 ,  A61B5/06

Abstract: A medical system includes a medical instrument, at least one actuator, and a controller. The medical instrument defines a central axis and includes a steerable tip. The controller is configured to command the at least one actuator to cause active steering control of the medical instrument according to an insertion control mode after movement of the medical instrument is detected and exceeds a first threshold value in an insertion direction and to deactivate the at least one actuator to cause the steerable tip of the medical instrument to move freely, without the active steering control, in reaction to forces exerted against the medical instrument by a wall of the anatomic passageway after axial movement of the medical instrument is detected by the medical system and exceeds a second threshold value in a retraction direction. At least one of the first or second threshold values comprises a velocity threshold value.

公开(公告)号：US11423542B2

公开(公告)日：2022-08-23

申请号：US16894021

申请日：2020-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  A61B1/00 ,  G06T7/33 ,  A61B34/30 ,  A61B34/10 ,  A61B34/35 ,  A61M25/01 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

Abstract: A system includes a catheter, a display system, and a control system in communication with the catheter and the display system. The control system includes one or more processors configured for receiving a set of model points of a model of one or more passageways of a patient and receiving a first set of measured points collected from within the patient passageways. Each point includes coordinates within a surgical environment occupied by the patient. The one or more processors are also configured for generating a first registration between the set of measured points and the set of model points, generating a second registration between a second set of measured points and the set of model points, and determining, after generating the first and second registrations, whether to implement the second registration in place of the first registration.

公开(公告)号：US20220168054A1

公开(公告)日：2022-06-02

申请号：US17675687

申请日：2022-02-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B34/30 ,  A61B34/00

Abstract: An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.