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.

公开(公告)号：US11871898B2

公开(公告)日：2024-01-16

申请号：US17867212

申请日：2022-07-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Dorin Panescu ,  Carol Reiley ,  Tao Zhao

IPC: A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B5/06 ,  A61B90/00 ,  A61B34/20 ,  A61B5/00

CPC classification number: A61B8/12 ,  A61B8/085 ,  A61B8/0841 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/4245 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

Abstract: A system for performing an interventional procedure includes an interventional instrument and a control system. The instrument includes a catheter and an interventional tool extendable from the catheter. The control system includes a processor and a memory comprising machine-readable instructions that cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; receive information about a maximum extension length the interventional tool can be extended relative to a distal tip of the catheter; based upon the received information about the maximum extension length, identify a planned deployment location for positioning the distal tip of the catheter to perform the interventional procedure on the target structure; determine a navigational path for the catheter to the target structure; and navigate the catheter to the identified planned deployment location via computer control or based on user input.

公开(公告)号：US20230285081A1

公开(公告)日：2023-09-14

申请号：US18041337

申请日：2021-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Oliver J. Wagner ,  Tao Zhao ,  Federico Barbagli ,  Christopher R. Carlson

IPC: A61B34/10 ,  G06T7/11

CPC classification number: A61B34/10 ,  G06T7/11 ,  A61B2034/105 ,  G06T2207/20081 ,  G06T2207/30004

Abstract: Disclosed herein are devices, systems, methods, and computer program products for planning and performing medical procedures. In some embodiments, a system for planning a medical procedure includes a processor and a memory operably coupled to the processor. The memory can store instructions that, when executed by the processor, cause the system to perform operations including: receiving image data of an anatomic region including a plurality of lymph nodes and a target lesion; generating a three-dimensional model of the anatomic region by segmenting the image data; selecting a subset of the lymph nodes to be biopsied during the medical procedure based at least in part on a location of the target lesion in the three-dimensional model; and determining a sequence for navigating a biopsy device to locations of the subset of the lymph nodes during the medical procedure.

公开(公告)号：US20230252634A1

公开(公告)日：2023-08-10

申请号：US18299612

申请日：2023-04-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

CPC classification number: G06T7/0012 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20 ,  G06T2207/30101 ,  A61B2034/2065

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US20230215007A1

公开(公告)日：2023-07-06

申请号：US18184499

申请日：2023-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Michael D. Paris ,  Timothy D. Soper ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/2046 ,  A61B2034/105

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

公开(公告)号：US11690678B2

公开(公告)日：2023-07-04

申请号：US16482020

申请日：2018-02-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao

IPC: A61B34/20 ,  A61B34/35 ,  A61B1/00 ,  A61B1/267

CPC classification number: A61B34/20 ,  A61B34/35 ,  A61B1/00045 ,  A61B1/2676 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065

Abstract: Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.

公开(公告)号：US11638999B2

公开(公告)日：2023-05-02

申请号：US16932373

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US11633125B2

公开(公告)日：2023-04-25

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 ,  A61B5/00 ,  A61B34/20

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：US20230091099A1

公开(公告)日：2023-03-23

申请号：US17790050

申请日：2020-12-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bai Wang ,  Energy Cruse, II ,  Joy Janku ,  Sida Li ,  Hui Zhang ,  Tao Zhao

IPC: A61B90/00 ,  A61B34/20 ,  A61B34/00

Abstract: A medical system comprises a display system and a medical instrument. The system further comprises a control system communicatively coupled to the display system. The control is system configured to display image data of a patient anatomy via the display system. The control system is further configured to determine, while the medical instrument navigates the patient anatomy, that a distal portion of the medical instrument is within a threshold distance of a target location in the patient anatomy. The control system is further configured to display an anatomical boundary via the display system if the distal portion of the medical instrument is within the threshold distance of the target location, the anatomical boundary indicating a surface of an anatomical structure of the patient anatomy.

公开(公告)号：US20230088056A1

公开(公告)日：2023-03-23

申请号：US17993227

申请日：2022-11-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： BAI WANG ,  Tao Zhao

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

Abstract: Medical imaging systems and methods are provided herein that provide for navigation and procedure planning without segmentation. A method comprises receiving, by a medical imaging system having at least: one processing device, three-dimensional image data of a patient anatomy. The method also comprises filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy and receiving, at the processing device, input from an operator input device. The input comprises navigational directions for virtual movement within a space defined by the three-dimensional image data. The method also includes tracking the virtual movement and generating a first model of the patient anatomy based on the tracked virtual movement.