公开(公告)号：US20230240750A1

公开(公告)日：2023-08-03

申请号：US18002840

申请日：2021-05-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Tao Zhao ,  Federico Barbagli ,  Pechin Chien Pau Lo

IPC: A61B34/10 ,  G06T19/20

CPC classification number: A61B34/10 ,  G06T19/20 ,  A61B2034/105 ,  G06T2219/2004

Abstract: Devices, systems, methods, and computer program products for planning medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure includes a processor and memory operably coupled to the processor. The memory stores instructions that, when executed by the processor, cause the system to perform operations including receiving a three-dimensional model of an anatomic region of a patient and evaluating whether the three-dimensional model is suitable for use in a registration procedure to be performed in the anatomic region. The evaluating includes: analyzing a span of the three-dimensional model along at least two different directions, determining whether the three-dimensional model includes at least one segmented component corresponding to at least one structure of the anatomic region, and performing a registration between the three-dimensional model and a virtual registration data set.

公开(公告)号：US11672412B2

公开(公告)日：2023-06-13

申请号：US16754939

申请日：2018-10-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/00 ,  A61B17/00 ,  A61B1/005 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/0051 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/76 ,  A61B2017/0011 ,  A61B2017/00115 ,  A61B2017/00296 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2562/0261

Abstract: A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.

公开(公告)号：US20230145309A1

公开(公告)日：2023-05-11

申请号：US18150105

申请日：2023-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bai Wang ,  Federico Barbagli ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Pechin Chien Pau Lo ,  Oscar G. Salazar ,  Aaron B. Tinling ,  Oliver J. Wagner ,  Tao Zhao

IPC: A61B34/00 ,  A61B34/10 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883

CPC classification number: A61B34/25 ,  A61B34/10 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883 ,  A61B2034/105 ,  A61B2034/107

Abstract: A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.

公开(公告)号：US11559357B2

公开(公告)日：2023-01-24

申请号：US16623260

申请日：2018-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Simon P. DiMaio ,  Gary S. Guthart

IPC: A61B34/20 ,  A61B34/10 ,  G01N33/48 ,  A61B34/30

Abstract: The systems and methods of the present disclosure are used for guiding a medical instrument towards a target, the method positioning a medical instrument at a first location within a patient anatomy, wherein the medical instrument comprises at least one sensor, determining a first biomarker measurement using the at least one sensor, determining a second biomarker measurement using the at least one sensor, comparing the first biomarker measurement with the second biomarker measurement to determine a proximity to the target to provide a first comparison, and providing guidance for moving the medical instrument based on results of the first comparison.

公开(公告)号：US11517184B2

公开(公告)日：2022-12-06

申请号：US16481990

申请日：2018-01-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Federico Barbagli ,  Timothy D. Soper

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

Abstract: A medical device includes an elongate device and one or more processors coupled to the elongate device. The elongate device includes a steerable distal end and a shape sensor located along a length of 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, based on information from a sensor, monitor an insertion motion of the elongate device, 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. The data collection event is at least partially based on a change in direction of the insertion motion of the elongate device.

公开(公告)号：US20220233265A1

公开(公告)日：2022-07-28

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 ,  A61B34/30 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B90/50

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：US11382695B2

公开(公告)日：2022-07-12

申请号：US16491244

申请日：2018-03-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00 ,  G06T3/00 ,  A61B34/30

Abstract: A medical system comprises a robotic manipulator arm and an imaging probe coupled to the robotic manipulator arm such that the imaging probe is movable in connection with the robotic manipulator arm. The system also comprises a control system in communication with the robotic manipulator arm and the imaging probe. The control system performs operations comprising extracting system information. The system information includes kinematic information from a robotic arm of a medical system, setup information, or a combination of the kinematic information and setup information associated with a medical procedure to be performed. The control system also generates, by a control system processor, a first registration between a first set of model points of a model of a patient anatomy of interest and a second set of intra-operatively collected captured points of a portion of the patient anatomy of interest, wherein the registration is based on the extracted system information.

公开(公告)号：US11313674B2

公开(公告)日：2022-04-26

申请号：US17115694

申请日：2020-12-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dawn K. Gifford ,  Federico Barbagli ,  Samuel Chang ,  Anoop B. Kowshik ,  Oliver Wagner ,  Michael Paris ,  Mark E. Froggatt

IPC: G01B11/16 ,  G01L1/24 ,  G02B23/26 ,  A61B1/00 ,  G02B6/02 ,  G02B6/34 ,  G02B6/00

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

公开(公告)号：US11278354B2

公开(公告)日：2022-03-22

申请号：US15759129

申请日：2016-09-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B1/005 ,  A61B34/20 ,  A61B90/00 ,  A61B5/06 ,  A61B1/267 ,  A61B17/00 ,  A61B34/10 ,  A61B34/00

Abstract: A method includes operating an optical tracking sensor to track configurations of first and second sets of optical fiducials, the first set on a patient and the second set on a reference portion of a medical instrument including an elongated flexible body and a rigid proximal body comprising a reference portion. A teleoperational manipulator is configured to move the rigid proximal body and second set along a fixed linear path. The method includes receiving shape information from a shape sensor and determining, using the second set, a position of a reference point of the shape sensor for a plurality of insertion measurements of a position measuring device. The method also includes determining a pose of a portion of the elongated flexible body with respect to a patient anatomy using the configuration of the first set of optical fiducials, the position of the reference point, and the shape information.

公开(公告)号：US10896506B2

公开(公告)日：2021-01-19

申请号：US16076290

申请日：2017-02-10

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

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 and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation 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, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.