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    Determining position of medical device in branched anatomical structure
    121.
    发明授权
    Determining position of medical device in branched anatomical structure 有权

    公开(公告)号：US10888248B2

    公开(公告)日：2021-01-12

    申请号：US15486246

    申请日：2017-04-12

    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

    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.

    SYSTEMS AND METHODS FOR INTERVENTIONAL PROCEDURE PLANNING
    122.
    发明申请
    SYSTEMS AND METHODS FOR INTERVENTIONAL PROCEDURE PLANNING 审中-公开

    公开(公告)号：US20200155116A1

    公开(公告)日：2020-05-21

    申请号：US16751797

    申请日：2020-01-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Dorin Panescu ,  Carol Reiley ,  Tao Zhao

    IPC: A61B8/12 ,  A61B17/00 ,  A61B10/04 ,  A61B8/08 ,  A61B34/10 ,  A61B8/00

    Abstract: A system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.

    SYSTEMS AND METHODS FOR INTELLIGENTLY SEEDING REGISTRATION
    126.
    发明申请
    SYSTEMS AND METHODS FOR INTELLIGENTLY SEEDING REGISTRATION 审中-公开

    公开(公告)号：US20200008874A1

    公开(公告)日：2020-01-09

    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 ,  G16H20/40 ,  G16H50/50 ,  A61B34/20 ,  A61B5/00 ,  A61M25/01

    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.

    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS
    127.
    发明申请
    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS 审中-公开

    公开(公告)号：US20190254752A1

    公开(公告)日：2019-08-22

    申请号：US16405438

    申请日：2019-05-07

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field to the reference three dimensional geometric model.

    Systems and methods for registration of multiple vision systems
    128.
    发明授权
    Systems and methods for registration of multiple vision systems 有权

    公开(公告)号：US10278615B2

    公开(公告)日：2019-05-07

    申请号：US13964704

    申请日：2013-08-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Prashant Chopra

    IPC: A61B5/00 ,  A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/33

    Abstract: A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.

    Targets, fixtures, and workflows for calibrating an endoscopic camera
    130.
    发明授权
    Targets, fixtures, and workflows for calibrating an endoscopic camera 有权

    公开(公告)号：US10134133B2

    公开(公告)日：2018-11-20

    申请号：US14828781

    申请日：2015-08-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

    IPC: G06T7/00 ,  H04N13/246 ,  G01D1/00 ,  G01D15/00 ,  G06K9/46 ,  G06T7/80

    Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

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