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151.发明公开公开(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
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.
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152.发明公开公开(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
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.
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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
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.
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.
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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.
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.
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公开(公告)号：US11547490B2
公开(公告)日：2023-01-10
申请号：US16349073
申请日：2017-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
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, defining a tracked pathway based on the tracked virtual movement, and generating a model of the patient anatomy based on the tracked pathway. The model of the patient anatomy is a line model including one or more lines based on the tracked pathway.
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159.发明授权公开(公告)号：US11376075B2
公开(公告)日：2022-07-05
申请号：US17205173
申请日：2021-03-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.
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160.发明申请公开(公告)号：US20220175475A1
公开(公告)日：2022-06-09
申请号：US17677866
申请日：2022-02-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John R. Steger , David Q. Larkin
Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes 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 includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.
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