公开(公告)号：US11344376B2

公开(公告)日：2022-05-31

申请号：US16311514

申请日：2017-06-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/30 ,  A61B1/005 ,  A61B34/35 ,  A61B34/37 ,  G02B23/24 ,  A61B1/00 ,  A61B34/00 ,  A61M25/01 ,  A61B34/20 ,  A61B17/00

Abstract: A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.

公开(公告)号：US20220133414A1

公开(公告)日：2022-05-05

申请号：US17576696

申请日：2022-01-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/20 ,  A61B5/06

Abstract: A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

公开(公告)号：US20220054202A1

公开(公告)日：2022-02-24

申请号：US17432727

申请日：2020-02-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B1/005 ,  A61B1/00

Abstract: A system may comprise a medical instrument, a tracking subsystem configured to receive position data from the medical instrument, and a control system communicatively coupled to the medical instrument and the tracking subsystem. The control system may be configured to perform operations including accessing a model of an anatomic structure of a patient and receiving an indication that the medical instrument has been delivered to a known anatomical landmark. The operations may also include collecting a plurality of measurement points of the anatomic structure along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path. The operations may also include determining a location of the medical instrument relative to the anatomic structure and registering the collected plurality of measurement points to the model of the anatomic structure.

公开(公告)号：US11202680B2

公开(公告)日：2021-12-21

申请号：US15752166

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A method comprises segmenting first modality image data representing a model of one or more passageways within a patient; generating a first set of points based on the segmented image data; registering the first set of points to a second set of points obtained by a second modality by: determining a set of matches between the first and second sets of points, and discarding a first subset of the set of matches based on a heuristic to generate a modified set of matches by ignoring an associated set of matches between the first and second sets of points when computing a corrective motion for the second set of points—an ignored match is included in a second subset of the set of matches when computing a second corrective motion for the second set of points; and displaying a visual representation of the passageways based on the modified set of matches.

公开(公告)号：US20210378763A1

公开(公告)日：2021-12-09

申请号：US17407634

申请日：2021-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Bailey ,  Federico Barbagli ,  Reuben D. Brewer ,  Christopher R. Carlson ,  Vincent Duindam ,  Tania K. Morimoto ,  Michael D. Paris ,  Oliver J. Wagner

IPC: A61B34/00 ,  A61B34/35 ,  A61B46/10

Abstract: A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

公开(公告)号：US11116581B2

公开(公告)日：2021-09-14

申请号：US15574545

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B1/267 ,  G06T19/00 ,  A61B1/005 ,  A61B1/00 ,  G06T19/20 ,  G06T7/33 ,  A61B5/06 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  A61B1/05 ,  A61B10/04

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US20210236206A1

公开(公告)日：2021-08-05

申请号：US17205173

申请日：2021-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/30 ,  G06T19/20 ,  A61B34/20

Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.

公开(公告)号：US11076753B2

公开(公告)日：2021-08-03

申请号：US16678728

申请日：2019-11-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Vincent Duindam ,  Mark Froggatt ,  Eric Sanborn

IPC: A61B1/07 ,  A61B1/005 ,  G02B6/36 ,  G02B23/26 ,  A61B1/00 ,  A61B34/30 ,  A61B5/06 ,  A61M25/01 ,  A61B34/20

Abstract: A tool may comprise an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end, and an adjustable bend between the proximal end and the intermediate portion. Motion of the intermediate portion may be constrained to translational motion substantially along an axis defined by the optical fiber at the intermediate portion. The tool may also comprise a cylindrical passage through which the intermediate portion of the optical fiber extends and a housing enclosing the adjustable bend and the cylindrical passage. The cylindrical passage may extend through a cylindrical member that includes an outer wall surrounding the cylindrical passage. The housing encloses the outer wall of the cylindrical member.

公开(公告)号：US11065059B2

公开(公告)日：2021-07-20

申请号：US16343093

申请日：2017-10-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

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

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：US20200297442A1

公开(公告)日：2020-09-24

申请号：US16638660

申请日：2018-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20

Abstract: A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.