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.

公开(公告)号：US12162143B2

公开(公告)日：2024-12-10

申请号：US18409350

申请日：2024-01-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US20240389882A1

公开(公告)日：2024-11-28

申请号：US18793090

申请日：2024-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

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

Abstract: A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of anatomic passageways of a patient anatomy. The deformable model comprises a plurality of model passageway links connected at connection points, and each of the model passageway links includes a centerline. At each respective connection point, the corresponding passageway links include an orientation. The instructions further cause the one or more processors to modify the deformable model by modifying relative orientations of one or more model passageway links of the plurality of model passageway links. The modifying is based on one or more modeling parameters that affect a shape of the plurality of model passageway links.

公开(公告)号：US12097000B2

公开(公告)日：2024-09-24

申请号：US18441902

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/30 ,  A61N5/10 ,  A61B34/20

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

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).

公开(公告)号：US20240197408A1

公开(公告)日：2024-06-20

申请号：US18539029

申请日：2023-12-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B17/00 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00006 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/10 ,  A61B2017/00296 ,  A61B2034/105 ,  A61B2034/2061

Abstract: A method comprises inserting, via a drive unit, a flexible elongate device into a passageway; recording, via one or more hardware processors communicatively coupled to a tracking system that is communicatively coupled to the drive unit, a first positional data point of the flexible elongate device at an insertion distance during the inserting; retracting, via the drive unit, the flexible elongate device; recording, via the one or more hardware processors, a second positional data point of the flexible elongate device at the insertion distance during the retracting; combining the first and second positional data points to create a third positional data point; and registering, via the one or more hardware processors, the third positional data point with a model of the passageway. The registering includes matching the third positional data point with a corresponding common passageway model data point.

公开(公告)号：US20240180631A1

公开(公告)日：2024-06-06

申请号：US18537517

申请日：2023-12-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00 ,  G06T7/10 ,  G06T17/00

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B90/37 ,  G06T7/0012 ,  G06T7/10 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  G06T2207/30004

Abstract: A method includes receiving anatomic image data comprising a plurality of graphical units, generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure, receiving a first indication of a first user selected graphical unit from the plurality of graphical units and a second indication of second user selected graphical unit from the plurality of graphical units, the first and second user selected graphical units being outside the initial segmented set of the plurality of graphical units, and applying a cost function to determine a path between the first and second user selected graphical units and the initial segmented set of the plurality of graphical units.

公开(公告)号：US20240139936A1

公开(公告)日：2024-05-02

申请号：US18409350

申请日：2024-01-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC classification number: B25J9/02 ,  B25J9/0084 ,  B25J9/1697 ,  B25J15/0071

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US20240108426A1

公开(公告)日：2024-04-04

申请号：US18531965

申请日：2023-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/70 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/301

Abstract: A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

公开(公告)号：US20240016556A1

公开(公告)日：2024-01-18

申请号：US18373695

申请日：2023-09-27

Applicant: Intuitive Surgical Operations, Inc.

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

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

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

Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.