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.

公开(公告)号：US20230218193A1

公开(公告)日：2023-07-13

申请号：US18180060

申请日：2023-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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

Abstract: A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.

公开(公告)号：US20230200790A1

公开(公告)日：2023-06-29

申请号：US18171590

申请日：2023-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00

CPC classification number: A61B10/04 ,  A61B34/25 ,  A61B90/37 ,  A61B1/000094 ,  A61B2090/378 ,  A61B34/35

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

公开(公告)号：US11684758B2

公开(公告)日：2023-06-27

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/0052 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/065 ,  A61B10/02 ,  A61B10/04 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61B1/0057 ,  A61B5/062 ,  A61B5/6852 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

公开(公告)号：US11678813B2

公开(公告)日：2023-06-20

申请号：US17240154

申请日：2021-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US20230157769A1

公开(公告)日：2023-05-25

申请号：US18159568

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B2034/301

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US20230149108A1

公开(公告)日：2023-05-18

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

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

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/344 ,  G06F30/23 ,  G06T3/0068 ,  G06T17/20 ,  A61B1/000094 ,  A61B1/00147 ,  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.