公开(公告)号：US20180325419A1

公开(公告)日：2018-11-15

申请号：US16025688

申请日：2018-07-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/06

CPC classification number: A61B5/061 ,  A61B5/065 ,  A61B5/7425 ,  A61B34/20 ,  A61B2034/2051 ,  G06F19/00

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. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.

公开(公告)号：US09901402B2

公开(公告)日：2018-02-27

申请号：US14629685

申请日：2015-02-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao

IPC: A61B19/00 ,  A61B17/00 ,  B25J13/08 ,  G06F3/01 ,  G05B15/02 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J9/16 ,  A61B34/10

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2017/00207 ,  A61B2034/102 ,  B25J9/1689 ,  B25J13/084 ,  G05B15/02 ,  G05B2219/36418 ,  G06F3/014

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

公开(公告)号：US20170265952A1

公开(公告)日：2017-09-21

申请号：US15329899

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B90/50 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: 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.

公开(公告)号：US20170238795A1

公开(公告)日：2017-08-24

申请号：US15503589

申请日：2015-08-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  B08B5/02 ,  A61B1/00 ,  B08B3/02

Abstract: A method of cleaning a medical instrument involves initiating a flow of a pressurized fluid across a surface of the medical instrument, the pressurized fluid having a pressure that is greater than a standard operating room supply, and terminating the flow of the pressurized fluid after a predetermined duration.

公开(公告)号：US09592095B2

公开(公告)日：2017-03-14

申请号：US14278812

申请日：2014-05-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Jonathan Michael Sorger ,  Prashant Chopra ,  Tao Zhao

IPC: A61B8/00 ,  A61B19/00 ,  A61B17/34

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306 ,  A61N5/1077 ,  G06F19/00

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

Abstract translation: 一种医疗机器人系统及其操作方法包括：获取患者解剖结构的术中外部图像数据，并使用该图像数据生成用于医疗机器人系统的控制系统的建模调整（例如，更新解剖模型和/或精炼仪器 注册）和/或调整程序控制方面（例如，调节物质或治疗递送，改善靶向性和/或跟踪性能）。

公开(公告)号：US20160206387A1

公开(公告)日：2016-07-21

申请号：US14997257

申请日：2016-01-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John Ryan Steger ,  David Q. Larkin

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

Abstract translation: 机器人系统包括具有图像帧的照相机，其相对于固定帧的位置和取向可通过一个或多个图像帧变换来确定，工具设置在照相机的视野内，并且具有工具框架，其位置和取向相对 通过一个或多个工具框架变换可以确定固定框架，并且至少一个处理器被编程为从一个或多个摄像机捕获的图像识别工具的姿势指示点，确定图像和工具框架中的未知图像的估计变换 使用所识别的姿势指示点和已知的图像和工具帧变换来变换，使用估计和已知的图像和工具帧变换来更新主对工具变换，以及响应于移动的工具的命令移动 的主人使用更新的主对工具变换。

公开(公告)号：US20160048953A1

公开(公告)日：2016-02-18

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 ,  G06K9/46 ,  H04N13/02

CPC classification number: H04N13/246 ,  G01D1/00 ,  G01D15/00 ,  G06K9/4671 ,  G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/10148 ,  G06T2207/20056 ,  G06T2207/30204 ,  H04N13/239

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.

Abstract translation: 本公开涉及用于诸如内窥镜成像系统的成像系统的校准组件和方法。 校准组件包括：用于约束与内窥镜成像系统接合的界面; 与所述界面耦合以便在所述成像系统的视野范围内的目标，所述目标包括具有包括识别特征的校准特征的多个标记; 以及处理器，被配置为从所述识别特征分别识别来自所述成像系统和所述目标之间的第一和第二相对空间布置的第一和第二图像，来自所述识别特征的至少一些标记，以及使用所识别的标记和校准特征位置 图像生成校准数据。

公开(公告)号：US20250057600A1

公开(公告)日：2025-02-20

申请号：US18935196

申请日：2024-11-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20250032198A1

公开(公告)日：2025-01-30

申请号：US18919067

申请日：2024-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06V10/74

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

公开(公告)号：US20250032195A1

公开(公告)日：2025-01-30

申请号：US18914969

申请日：2024-10-14

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 ,  A61B1/005 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/00 ,  G06T7/30 ,  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.