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

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

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.

公开(公告)号：US11351000B2

公开(公告)日：2022-06-07

申请号：US15329899

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00 ,  A61B34/10 ,  A61B90/50 ,  A61B90/00

Abstract: A method of deploying an interventional instrument comprises identifying a target structure within a patient anatomy in an anatomic frame of reference. The method further comprises determining a target region representing a location of the target structure in the the anatomic frame of reference with respect to a current location of the interventional instrument and recording a first engagement location of the interventional instrument within the target. Determining the target region includes determining a probabilistic distribution of the location of the target structure relative to the current location of the interventional instrument and associating each of the plurality of target points with a probability of engaging the target structure.

公开(公告)号：US20220079467A1

公开(公告)日：2022-03-17

申请号：US17532039

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/06 ,  G06T7/33 ,  A61B1/00 ,  A61B34/20

Abstract: A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the probe; compare a tissue structure in an image received from a camera positioned at the tip of the probe to a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; and based on identification of the closest matched virtual tissue structure, register the image to the model to identify a virtual probe position for the tip of the probe with respect to the model.

公开(公告)号：US20220071715A1

公开(公告)日：2022-03-10

申请号：US17532369

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/30 ,  A61B1/00 ,  G06T7/12 ,  G06T7/33 ,  A61B34/35 ,  A61B90/00 ,  A61B5/00 ,  A61B5/01 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.

公开(公告)号：US11252395B2

公开(公告)日：2022-02-15

申请号：US16826890

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: H04N13/246 ,  G06T7/80 ,  G06K9/46 ,  G01D1/00 ,  G01D15/00 ,  H04N13/239

Abstract: A calibration target comprises a target pattern plane having a planar surface and a plurality of markers disposed on the planar surface. An optical axis of the imaging system is at a first angle with respect to the planar surface of the target pattern plane when the calibration target is being used to calibrate the imaging system. The plurality of markers is pre-warped in size and aspect ratio using a set of trigonometric functions that use the first angle and a distance from the imaging system to the marker, so that each of the plurality of markers appears a substantially same size as all others of the plurality of markers when viewed by the imaging system at the first angle. The plurality of markers includes a plurality of localizer features that have known relative positions on the target pattern plane and are used to determine an orientation for each marker.

公开(公告)号：US11241148B2

公开(公告)日：2022-02-08

申请号：US16870494

申请日：2020-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  A61B1/00 ,  B08B3/02 ,  B08B5/02

Abstract: A system comprises a medical instrument including a nozzle and a lens. The system further comprises a valve configured to control provision of a pressurized fluid. The system further comprises a valve control mechanism and a control system. The control system is configured to determine, based on a position of the medical instrument within a patient anatomy, whether an obstruction is on a surface of the lens. The control system is further configured to, based on a determination that the obstruction is on the surface of the lens, instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid through the nozzle and over the surface of the lens.

公开(公告)号：US10966790B2

公开(公告)日：2021-04-06

申请号：US16681003

申请日：2019-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/30 ,  G06T19/20 ,  A61B34/20

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US10722108B2

公开(公告)日：2020-07-28

申请号：US15503589

申请日：2015-08-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  A61B1/00 ,  B08B3/02 ,  B08B5/02

Abstract: A system comprises a nozzle and a pressure augmenting mechanism connected to the nozzle. The pressure augmenting mechanism is configured to provide a pressurized fluid at a pressure that is higher than a standard operating room pressure. The system further comprises a valve between the pressure augmenting mechanism and the nozzle, the valve configured to control provision of the pressurized fluid from the pressure augmenting mechanism. The system further comprises a valve control mechanism and a control system configured to instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid from the pressure augmenting mechanism through the nozzle and over a surface of a medical instrument. An amount of the flow of the pressurized fluid is determined based on a position of the medical instrument in a patient anatomy.

公开(公告)号：US20200228783A1

公开(公告)日：2020-07-16

申请号：US16826890

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: H04N13/246 ,  G01D1/00 ,  G06T7/80 ,  G01D15/00 ,  G06K9/46 ,  H04N13/239

Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

公开(公告)号：US20200214664A1

公开(公告)日：2020-07-09

申请号：US16792697

申请日：2020-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Dorin Panescu

IPC: A61B8/12 ,  A61B8/00 ,  A61B34/10 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00

Abstract: A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.