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.

公开(公告)号：US11786311B2

公开(公告)日：2023-10-17

申请号：US17830111

申请日：2022-06-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T19/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T2210/41 ,  G06T2219/2021

Abstract: A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US11779396B2

公开(公告)日：2023-10-10

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  A61B1/00 ,  A61B1/005 ,  A61B10/02

CPC classification number: A61B34/10 ,  A61B1/009 ,  A61B1/000094 ,  A61B6/032 ,  A61B6/466 ,  G06T7/11 ,  G06T7/30 ,  A61B1/005 ,  A61B10/02

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

公开(公告)号：US11737682B2

公开(公告)日：2023-08-29

申请号：US17590667

申请日：2022-02-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B34/20 ,  A61B5/06 ,  G06T7/00 ,  A61B34/30 ,  A61B34/10 ,  A61B5/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B5/066 ,  A61B5/00 ,  A61B5/061 ,  A61B5/065 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T7/0012 ,  A61B2017/00809 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors configured to: receive image data of a set of connected passageways of a patient anatomy; model the set as a plurality of linked bounded-surface elements, each linked bounded-surface element defined in part by basepoints on an anatomical centerline, an element centerline spanning a shortest distance between the basepoints, and a radius; receive position information for a point on the instrument when disposed in the set; based on a comparison of the received position information to the plurality of linked bounded-surface elements, generate adjusted position information for the point; match one of the plurality of linked bounded-surface elements to the point to register the instrument to the image data; create an adjusted instrument image with the adjusted position information; and generate a composite image including the image data of the set and the adjusted instrument image.

公开(公告)号：US20230263373A1

公开(公告)日：2023-08-24

申请号：US18308906

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B1/005 ,  A61B34/20 ,  A61B34/00 ,  A61B17/00

CPC classification number: A61B1/0051 ,  A61B34/20 ,  A61B34/76 ,  A61B17/00234 ,  A61B1/005 ,  A61B1/009 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301

Abstract: Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument.