公开(公告)号：US11628013B2

公开(公告)日：2023-04-18

申请号：US16327219

申请日：2017-08-16

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 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00

Abstract: A method of monitoring a medical instrument during a medical procedure includes: receiving state information from a control system in communication with the medical instrument; detecting, by the control system, motion of at least a portion of the medical instrument; comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value based on the state information received from the control system; determining, based on the detected motion exceeding the threshold motion value, significant movement of a patient has occurred; providing a system response based on determining significant movement of the patient has occurred; comparing the detected motion with a threshold control value, wherein the threshold control value is higher than the threshold motion value; and disregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.

公开(公告)号：US11583353B2

公开(公告)日：2023-02-21

申请号：US17353322

申请日：2021-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

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

Abstract: A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.

公开(公告)号：US20230030727A1

公开(公告)日：2023-02-02

申请号：US17965396

申请日：2022-10-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: G06T7/33 ,  G06T7/73

Abstract: A system is configured to perform operations includes accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space. A set of measured points of the anatomic structure of the patient are collected, the measured points being associated with a patient space. The set of model points are registered to the set of measured points using a first set of initial parameters to generate a first transformation. One or more sets of perturbed initial parameters are generated based on the first set of initial parameters. One or more perturbed registration processes are performed to register the set of model points to the set of measured points using the one or more sets of perturbed initial parameters respectively to generate corresponding perturbed transformations. A registration quality indicator is generated based on the first transformation and the one or more perturbed transformations.

公开(公告)号：US20220346886A1

公开(公告)日：2022-11-03

申请号：US17851270

申请日：2022-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B90/00 ,  A61B6/00 ,  A61B6/02 ,  A61B6/12 ,  A61B34/10

Abstract: A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.

公开(公告)号：US20220273377A1

公开(公告)日：2022-09-01

申请号：US17733446

申请日：2022-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： NICOLA DIOLAITI ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B34/30 ,  A61B1/005 ,  A61B34/35 ,  A61B34/37 ,  G02B23/24 ,  A61B1/00 ,  A61B34/00 ,  A61M25/01

Abstract: A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.

公开(公告)号：US20220211450A1

公开(公告)日：2022-07-07

申请号：US17575541

申请日：2022-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： GIUSEPPE MARIA PRISCO ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01B11/24 ,  H04W4/80 ,  H04W12/06 ,  A61B17/24 ,  H04L9/40 ,  G01D5/353 ,  A61B34/00 ,  A61B34/20

Abstract: A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

公开(公告)号：US11252141B2

公开(公告)日：2022-02-15

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B17/24 ,  G01B11/24 ,  A61B34/30 ,  A61B34/20 ,  H04L29/06 ,  H04W4/80 ,  H04W12/06 ,  A61B18/20 ,  A61B18/00 ,  G01D5/353

Abstract: A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

公开(公告)号：US20210401508A1

公开(公告)日：2021-12-30

申请号：US17277414

申请日：2019-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Energy Cruse, II ,  Vincent Duindam ,  Pechin Chien Pau Lo ,  Jun Ma ,  Oscar G. Salazar ,  Bai Wang ,  Hui Zhang

IPC: A61B34/20 ,  A61B34/00 ,  G06T3/00 ,  A61B6/00 ,  A61B34/10

Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.

公开(公告)号：US20210386487A1

公开(公告)日：2021-12-16

申请号：US17412705

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/20 ,  A61B1/267 ,  G06T19/00 ,  A61B1/005 ,  A61B1/00 ,  G06T19/20 ,  G06T7/33 ,  A61B5/06 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  A61B1/05 ,  A61B10/04

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position into for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US20210259783A1

公开(公告)日：2021-08-26

申请号：US17253743

申请日：2019-06-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B34/10

Abstract: A system includes one or more processors configured to read instructions to cause the system to perform operations including accessing a set of model points of a model of an anatomic structure of a patient. The model points is associated with a model space. The operations further include collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space, determining a set of matches between the set of model points and the set of measured points, determining a first plurality of weights for the set of matches, and registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration.