公开(公告)号：US12295718B2

公开(公告)日：2025-05-13

申请号：US18154211

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/06 ,  A61B10/02 ,  A61B17/3209 ,  A61B17/34 ,  A61B34/20 ,  A61B10/04 ,  A61B17/00 ,  A61B34/10

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.

公开(公告)号：US12274514B2

公开(公告)日：2025-04-15

申请号：US18482346

申请日：2023-10-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Cristian Bianchi ,  Vincent Duindam ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B34/35 ,  A61B90/00 ,  A61M25/01 ,  G06T19/00 ,  G06T19/20

Abstract: A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.

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.

公开(公告)号：US20240268636A1

公开(公告)日：2024-08-15

申请号：US18630866

申请日：2024-04-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B5/00 ,  A61B5/06 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00

CPC classification number: 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

Abstract: 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.

公开(公告)号：US20240264683A1

公开(公告)日：2024-08-08

申请号：US18607140

申请日：2024-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F3/0354 ,  A61B1/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  A61B90/00 ,  A61M25/01

CPC classification number: G06F3/03547 ,  A61B1/00042 ,  A61B34/25 ,  A61B34/35 ,  A61B34/74 ,  A61B46/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3735 ,  A61M25/0113

Abstract: An input control console for a flexible elongate device may comprise an input control having an infinite length of travel in a one or more directions. The input control may provide a command suitable for controlling a degree of freedom motion of the flexible elongate device. The input control console may also comprise a ring located on a top surface of the console, the input control being mounted within the ring.

公开(公告)号：US20240024038A1

公开(公告)日：2024-01-25

申请号：US18365710

申请日：2023-08-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  G06T7/0012 ,  G06T7/30 ,  A61B1/009 ,  A61B34/10 ,  G06T7/38

Abstract: 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.

公开(公告)号：US20240008762A1

公开(公告)日：2024-01-11

申请号：US18475052

申请日：2023-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Carol Reiley

IPC: A61B5/06 ,  A61M25/01 ,  A61B34/00 ,  A61B17/34 ,  A61B5/00

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

Abstract: A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.

公开(公告)号：US11864856B2

公开(公告)日：2024-01-09

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/10 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B1/000094 ,  A61B1/00147 ,  A61B34/10 ,  A61B34/20 ,  G06F30/23 ,  G06T3/0068 ,  G06T7/344 ,  G06T17/20 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

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：US20230346487A1

公开(公告)日：2023-11-02

申请号：US18349025

申请日：2023-07-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B34/25 ,  A61B34/35 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2034/301

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.