公开(公告)号：US10039473B2

公开(公告)日：2018-08-07

申请号：US13892974

申请日：2013-05-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/20

Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

公开(公告)号：US09801551B2

公开(公告)日：2017-10-31

申请号：US13944999

申请日：2013-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. Herzlinger ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B6/00 ,  A61B5/00 ,  A61B1/267 ,  A61B1/06 ,  A61B1/00 ,  A61B5/08

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment.

公开(公告)号：US20170049520A1

公开(公告)日：2017-02-23

申请号：US15345029

申请日：2016-11-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  A61B34/00 ,  B25J9/16 ,  B25J13/02 ,  G01L5/22 ,  B25J18/06

CPC classification number: A61B34/30 ,  A61B34/77 ,  A61B2034/301 ,  B25J9/1689 ,  B25J13/025 ,  B25J18/06 ,  G01L5/226 ,  Y10S901/15 ,  Y10S901/17 ,  Y10S901/46

Abstract: An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.

Abstract translation: 一种装置包括连续柔性装置和致动机构，其用于弯曲和拉直连续柔性装置。 该装置还包括传感器装置，其产生关于连续柔性装置的至少一部分的弯曲信息。 该装置还包括电子数据处理器。 电子数据处理器产生（i）关于施加到连续柔性装置的外力的大小或方向中的至少一个的外力信息，或者（ii）外力信息和关于施加的弯曲力的内力信息 通过致动机构从（a）产生的弯曲信息和（b）表示连续柔性装置的至少一个机械特性的信息传递到连续柔性装置。

公开(公告)号：US20160183841A1

公开(公告)日：2016-06-30

申请号：US14910601

申请日：2014-08-12

Applicant: Intuitive Surgical Operations Inc.

Inventor： Vincent Duindam ,  Carol Reiley

IPC: A61B5/06 ,  A61B5/00

CPC classification number: A61B5/066 ,  A61B5/743 ,  A61B17/34 ,  A61B34/25 ,  A61B34/30 ,  A61B2010/045 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61M25/01 ,  A61M25/0105 ,  A61M2025/0166

Abstract: A method of guiding an interventional instrument within a patient anatomy comprises processing a target location within the patient anatomy and receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy. The method also comprises determining a three-dimensional distance between the first location and the target location and displaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument.

Abstract translation: 在患者解剖结构内引导介入器械的方法包括处理患者解剖结构内的目标位置，并且在患者解剖结构内的第一位置处接收介入器械的尖端部分的位置。 该方法还包括确定第一位置和目标位置之间的三维距离，并且显示表示目标位置的符号和表示介入器具的尖端部分的符号。

公开(公告)号：US20140350391A1

公开(公告)日：2014-11-27

申请号：US14452302

申请日：2014-08-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Vincent Duindam

IPC: A61B5/06 ,  A61B1/00

CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B1/0002 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00055 ,  A61B1/00147 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/0051 ,  A61B1/01 ,  A61B1/05 ,  A61B1/273 ,  A61B2034/2061

Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

Abstract translation: 通过显示邻近由设置在内窥镜装置的尖端处的图像捕获装置拍摄的当前图像的矢量的向量的图形表示并且在此时显示在显示屏幕上，向内窥镜装置的操作者提供地标方向引导，其中图形 矢量的表示指向内窥镜尖端要转向以朝向相关联的标志（例如患者的解剖结构）移动的方向。

公开(公告)号：US08896847B2

公开(公告)日：2014-11-25

申请号：US13920470

申请日：2013-06-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Guiseppe Maria Prisco ,  Theodore W. Rogers ,  John Ryan Steger

IPC: G01B11/14

CPC classification number: G01B21/22 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/2061 ,  A61B2090/067

Abstract: A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

Abstract translation: 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。

公开(公告)号：US20140275997A1

公开(公告)日：2014-09-18

申请号：US14204807

申请日：2014-03-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Tao Zhao ,  John A. Cole

IPC: A61B5/06

CPC classification number: A61B5/064 ,  A61B5/6879 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2090/363 ,  A61B2090/3937 ,  A61B2090/3966 ,  A61B2560/0456

Abstract: A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.

Abstract translation: 医疗跟踪系统包括基准装置，其包括配置成与传感器装置的配合部分配合的传感器对接特征。 传感器对接特征将配合部分保持在已知的配置中。 基准装置还包括至少一个可成像的基准标记和被配置为附接到患者的解剖结构的表面。

公开(公告)号：US20130204124A1

公开(公告)日：2013-08-08

申请号：US13751462

申请日：2013-01-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  Simon P. DiMaio ,  Dorin Panescu

IPC: A61B5/06 ,  A61B17/3209

CPC classification number: A61B5/065 ,  A61B5/062 ,  A61B10/0233 ,  A61B17/3209 ,  A61B17/3403 ,  A61B17/3468 ,  A61B34/20 ,  A61B2010/045 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061

Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。

公开(公告)号：US12121204B2

公开(公告)日：2024-10-22

申请号：US18179874

申请日：2023-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B1/0005 ,  A61B1/005 ,  A61B1/009 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B10/04 ,  A61B34/20 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  G06T7/33 ,  G06T7/337 ,  G06T7/344 ,  G06T19/00 ,  G06T19/006 ,  G06T19/20 ,  A61B2034/2051 ,  A61B2034/2061 ,  G06T2207/10068 ,  G06T2207/30061

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：US20240285363A1

公开(公告)日：2024-08-29

申请号：US18658363

申请日：2024-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/062

Abstract: A method comprises generating, by a control system, a measured model of an elongate instrument based on a measured state of the elongate instrument. The method further comprises generating, by the control system, a predicted model of the elongate instrument based on a reference state of the elongate instrument and a user command. The method further comprises comparing, by the control system, the measured model with the predicted model. The method further comprises determining, by the control system, whether a patient has moved relative to the elongate instrument based on the comparison.