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101.发明公开公开(公告)号：US20240289958A1
公开(公告)日：2024-08-29
申请号：US18653066
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
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.
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公开(公告)号：US20240277421A1
公开(公告)日：2024-08-22
申请号：US18653383
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao , Caitlin Q. Donhowe
CPC classification number: A61B34/20 , A61B1/005 , A61B1/009 , A61B1/2676 , A61B5/064 , A61B17/00234 , A61B90/39 , A61B2017/003 , A61B2017/00809 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B34/25 , A61B2090/3614 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B90/37 , A61B2090/371 , A61B2090/3983
Abstract: A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.
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公开(公告)号：US11977678B2
公开(公告)日：2024-05-07
申请号：US18311107
申请日：2023-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC: G06F3/01 , G06F3/04815
CPC classification number: G06F3/013 , G06F3/04815
Abstract: A medical robotic system includes a viewer for displaying an image of a work site, a gaze tracker for tracking a gaze point of a user on the viewer, and a processor. The processor is configured to: draw an area or volume defining shape, overlaid on the image of the work site, in a position determined by the gaze tracker; assign a fixed virtual constraint to the shape and constrain movement of a robotic tool according to the fixed virtual constraint; receive a user selected action command selecting an image of patient anatomy; and superimpose the selected image of the patient anatomy over the image of the work site within the shape. The selected image of the patient anatomy is registered to the image of the work site.
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104.发明公开公开(公告)号：US20240065769A1
公开(公告)日：2024-02-29
申请号：US18465876
申请日：2023-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , G06T19/20 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T2210/41 , G06T2219/2021
Abstract: A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.
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公开(公告)号：US11903693B2
公开(公告)日：2024-02-20
申请号：US17136550
申请日：2020-12-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco
IPC: A61B5/00 , A61B5/06 , G06T7/73 , A61B1/00 , A61B1/267 , A61B34/20 , A61B6/12 , A61B6/00 , A61B8/08 , A61B34/10 , A61B90/00
CPC classification number: A61B5/066 , A61B1/0005 , A61B1/2676 , A61B5/0059 , A61B5/064 , A61B34/20 , G06T7/75 , A61B6/12 , A61B6/5247 , A61B8/0841 , A61B8/5261 , A61B2034/105 , A61B2034/2065 , A61B2090/365 , G06T2207/10016 , G06T2207/10068 , G06T2207/30004
Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.
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Patent Agency Ranking
106.发明公开公开(公告)号：US20240041531A1
公开(公告)日：2024-02-08
申请号：US18457815
申请日：2023-08-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao
CPC classification number: A61B34/10 , G06T7/11 , G06T7/30 , A61B6/032 , A61B6/466 , A61B1/000094 , A61B1/009 , A61B10/02
Abstract: A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.
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公开(公告)号：US11877816B2
公开(公告)日：2024-01-23
申请号：US16763552
申请日：2018-11-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Ambarish G. Goswami , Paul G. Griffiths , Brandon D. Itkowitz , Tao Zhao
CPC classification number: A61B34/35 , A61B34/70 , A61B90/37 , A61B90/39 , A61B2034/301
Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.
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公开(公告)号：US20230380716A1
公开(公告)日：2023-11-30
申请号：US18311031
申请日：2023-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Prashant Chopra , Tao Zhao
CPC classification number: A61B5/066 , A61B5/0044 , A61B34/30 , A61B5/062 , A61B5/065 , G16Z99/00 , A61B2017/00699
Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.
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公开(公告)号：US20230372039A1
公开(公告)日：2023-11-23
申请号：US18306908
申请日：2023-04-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
CPC classification number: A61B34/32 , A61B17/3478 , A61B34/30 , A61B34/10 , A61B17/00234 , A61N5/1077 , A61B2034/302 , A61B2034/306 , A61B2034/105 , A61B2034/107 , A61B2034/2065
Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
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公开(公告)号：US20230317252A1
公开(公告)日：2023-10-05
申请号：US18041126
申请日：2021-08-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Hui Zhang , Troy K. Adebar , Tao Zhao
Abstract: A system may perform operations including receiving data comprising a plurality of image frames sampled from a volume data set of an imaged anatomical region displayable on a monitor. The plurality of image frames may correspond to a plurality of volume data reconstruction images displayed on the monitor in a series of image slices of a scrollable image stack. The operations also include analyzing the plurality of image frames to detect image features that are characteristic of a static view region in each image frame and evaluating the detected image features to determine a relative location of the detected one or more image features with respect to a scrolling view region for each image frame. The operations also include determining an ordered set of the image frames sorted according to a sequence based on relative locations and producing processed video data comprising the ordered set of the image frames.
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