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121.发明公开公开(公告)号：US20240281976A1
公开(公告)日：2024-08-22
申请号：US18652927
申请日：2024-05-02
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
CPC分类号： 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
摘要： 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：US20240245476A1
公开(公告)日：2024-07-25
申请号：US18602901
申请日：2024-03-12
IPC分类号： A61B34/35 , A61B17/00 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , A61B90/50
CPC分类号： A61B34/35 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B90/50 , A61B2017/00694 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B34/71 , A61B2034/741 , A61B2034/742 , A61B2090/3614 , A61B2090/371
摘要： 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.
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公开(公告)号：US20240216085A1
公开(公告)日：2024-07-04
申请号：US18544287
申请日：2023-12-18
发明人： David Q. Larkin , Vincent Duindam
CPC分类号： A61B34/30 , A61B34/77 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , A61B2034/301 , Y10S901/15 , Y10S901/17 , Y10S901/46
摘要： A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument further includes a sensor apparatus configured to generate sensor data about the flexible section and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to at least the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding stiffness of the surgical instrument to derive an internal actuation force applied by the force transmission mechanism.
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公开(公告)号：US12004830B2
公开(公告)日：2024-06-11
申请号：US16638660
申请日：2018-08-14
发明人： Troy K. Adebar , Vincent Duindam
CPC分类号： A61B34/37 , A61B34/10 , A61B34/20 , A61B2034/102 , A61B2034/105 , A61B2034/2061 , A61B2034/301 , A61B2090/062
摘要： 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.
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公开(公告)号：US11980344B2
公开(公告)日：2024-05-14
申请号：US16331657
申请日：2017-09-20
发明人： Vincent Duindam , Timothy D. Soper
IPC分类号： A61B1/00 , A61B1/005 , A61B1/01 , A61B5/00 , A61B5/06 , A61B34/00 , A61B34/35 , A61B34/37 , A61B34/20 , A61B34/30 , A61B90/00
CPC分类号： A61B1/00149 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/009 , A61B1/01 , A61B5/065 , A61B5/6852 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/254 , A61B2034/301 , A61B2090/065 , A61B2090/3614 , A61B2090/371 , A61B2090/3735 , A61B2090/374 , A61B2090/376 , A61B2090/3762
摘要： A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.
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公开(公告)号：US11957424B2
公开(公告)日：2024-04-16
申请号：US17720151
申请日：2022-04-13
IPC分类号： A61B34/35 , A61B17/00 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , A61B90/50
CPC分类号： A61B34/35 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B90/50 , A61B2017/00694 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B34/71 , A61B2034/741 , A61B2034/742 , A61B2090/3614 , A61B2090/371
摘要： A system includes an interventional instrument and a control system. The control system is configured to: generate a graphical user interface (GUI) including an image of a target region for deploying the interventional instrument, wherein the target region includes a plurality of target points and is determined by a probabilistic collection of the plurality of target points, wherein a size of the target region is based at least in part on a location of a target structure within a patient anatomy; responsive to an engagement of the interventional instrument with tissue in the target region, update the GUI to include an engagement location marker; and responsive to the engagement of the interventional instrument, update the GUI to include an image of a revised target region.
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公开(公告)号：US11890068B2
公开(公告)日：2024-02-06
申请号：US17459571
申请日：2021-08-27
发明人： David Q. Larkin , Vincent Duindam
CPC分类号： A61B34/30 , A61B34/77 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , A61B2034/301 , Y10S901/15 , Y10S901/17 , Y10S901/46
摘要： A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.
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128.发明授权公开(公告)号：US11819284B2
公开(公告)日：2023-11-21
申请号：US16310804
申请日：2017-06-29
IPC分类号： A61B34/20 , A61B17/00 , A61M25/01 , G06T19/00 , G06T19/20 , A61B34/35 , A61B34/10 , A61B90/00
CPC分类号： A61B34/20 , A61B17/00234 , A61B34/35 , A61M25/0105 , G06T19/003 , G06T19/006 , G06T19/20 , A61B2017/003 , A61B2017/00115 , A61B2017/00199 , A61B2034/101 , A61B2034/2055 , A61B2034/2061 , A61B2090/365 , A61M2025/0166 , G06T2219/2012
摘要： A method for displaying guidance information during an image-guided medical procedure includes receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body, calculating a bend radius along a length of the flexible body, determining supplemental guidance information that includes an indication of whether the bend radius is less than a minimum allowable bend radius, augmenting images with the supplemental guidance information to produce augmented images by applying a scheme in which a portion of a graphical representation of the flexible body having a radius less than the minimum is augmented with a visual property, displaying the augmented images on a display device at a console, determining a direction to steer the flexible body to increase the bend radius, and displaying actuation information on the display device. The actuation information includes a directional indicator to display the direction.
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公开(公告)号：US11800991B2
公开(公告)日：2023-10-31
申请号：US14910601
申请日：2014-08-12
发明人： Vincent Duindam , Carol Reiley
IPC分类号： A61B5/06 , A61M25/01 , A61B34/00 , A61B17/34 , A61B5/00 , A61B34/10 , A61B34/30 , A61B34/20 , A61B10/04
CPC分类号： A61B5/066 , A61B5/743 , A61B17/34 , A61B34/25 , A61M25/01 , A61M25/0105 , A61B34/30 , A61B2010/045 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61M2025/0166
摘要： 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.
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公开(公告)号：US11759262B2
公开(公告)日：2023-09-19
申请号：US15564509
申请日：2016-04-04
发明人： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC分类号： A61B34/20 , A61B1/00 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/35 , G06T7/00 , G06T7/30 , A61B1/005 , G06T7/38 , A61B34/30 , A61B90/00
CPC分类号： A61B34/20 , A61B1/009 , A61B1/00147 , A61B1/01 , A61B1/2676 , A61B34/10 , G06T7/0012 , G06T7/30 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/207 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2090/365 , A61B2090/397 , A61B2090/3945 , G06T7/38
摘要： A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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