公开(公告)号：US20190239723A1

公开(公告)日：2019-08-08

申请号：US16331657

申请日：2017-09-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B34/35 ,  A61B34/00 ,  A61B1/01

CPC classification number: A61B1/00057 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/005 ,  A61B1/01 ,  A61B5/065 ,  A61B5/6852 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762

Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

公开(公告)号：US10373719B2

公开(公告)日：2019-08-06

申请号：US14845031

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G16H50/50 ,  A61B34/10 ,  A61B34/00

Abstract: A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

公开(公告)号：US20190192819A1

公开(公告)日：2019-06-27

申请号：US16283039

申请日：2019-02-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61M25/01 ,  A61B34/30

CPC classification number: A61M25/0133 ,  A61B18/24 ,  A61B34/30 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0113 ,  A61M25/0147 ,  A61M25/0158 ,  A61M2025/0166

Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

公开(公告)号：US10105188B2

公开(公告)日：2018-10-23

申请号：US15345029

申请日：2016-11-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  G01L5/22 ,  B25J18/06 ,  A61B34/00 ,  B25J9/16 ,  B25J13/02

Abstract: An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.

公开(公告)号：US20180153621A1

公开(公告)日：2018-06-07

申请号：US15574545

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B34/20 ,  A61B1/0005 ,  A61B1/005 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B10/04 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/2051 ,  A61B2034/2061 ,  G06T7/10 ,  G06T7/33 ,  G06T7/344 ,  G06T19/00 ,  G06T19/006 ,  G06T19/20 ,  G06T2207/10068 ,  G06T2207/30061

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 information 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：US20180078318A1

公开(公告)日：2018-03-22

申请号：US15564509

申请日：2016-04-04

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 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/207 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/3945 ,  A61B2090/397

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：US09730611B2

公开(公告)日：2017-08-15

申请号：US13964724

申请日：2013-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anoop B. Kowshik ,  Carolyn M. Fenech ,  Vincent Duindam ,  Caitlin Q. Donhowe

IPC: A61B5/05 ,  A61B5/06 ,  A61B34/20 ,  A61M25/01 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B5/06 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  A61M25/0147 ,  A61M2025/0166

Abstract: A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature. The first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature.

公开(公告)号：US09500548B2

公开(公告)日：2016-11-22

申请号：US14560501

申请日：2014-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: G01L5/22 ,  B25J18/06

CPC classification number: A61B34/30 ,  A61B34/77 ,  A61B2034/301 ,  B25J9/1689 ,  B25J13/025 ,  B25J18/06 ,  G01L5/226 ,  Y10S901/15 ,  Y10S901/17 ,  Y10S901/46

Abstract: An apparatus comprises an arm including a flexible portion and an actuation mechanism to bend and straighten the flexible portion of the arm. The apparatus also includes a sensor apparatus that generates bend information about at least one bend in the flexible portion and an electronic data processor. The electronic data processor determines external force information and/or internal force information from the bend information and information representing at least one mechanical property of the flexible portion.

Abstract translation: 一种装置包括一个臂，它包括一个可弯曲部分和一个致动机构，用于弯曲和拉直臂的柔性部分。 该装置还包括传感器装置，其产生关于柔性部分中的至少一个弯曲部的弯曲信息和电子数据处理器。 电子数据处理器根据弯曲信息和表示柔性部分的至少一个机械特性的信息确定外力信息和/或内力信息。

公开(公告)号：US09429696B2

公开(公告)日：2016-08-30

申请号：US13925965

申请日：2013-06-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Stephen J. Blumenkranz ,  Vincent Duindam

IPC: A61B19/00 ,  G02B6/00 ,  A61B1/00 ,  A61B18/00

CPC classification number: A61B34/20 ,  A61B1/00165 ,  A61B1/00167 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B2018/00791 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  G02B6/00

Abstract: A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensing apparatus also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument.

Abstract translation: 一种形状检测装置包括一个包括具有中性轴的细长轴的仪器。 形状感测装置还包括第一形状传感器，该第一形状传感器具有细长的光纤，该细长的光纤在距离中性轴线的第一径向距离处在细长轴内延伸。 该装置还包括在细长轴内延伸的形状传感器补偿装置。 该装置还包括跟踪系统，用于从第一形状传感器接收形状数据，并补偿来自形状传感器补偿装置的数据，以用于计算仪器的弯曲测量。

公开(公告)号：US20160157939A1

公开(公告)日：2016-06-09

申请号：US14908386

申请日：2014-07-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/20

CPC classification number: A61B34/20 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2090/0818

Abstract: A method of operating a shape sensing apparatus comprising receiving first shape data from a first shape sensor section including a first elongated optical fiber extending between a first location and a second location. The method further comprises receiving second shape data front a second shape sensor section including a second elongated optical fiber extending between a third location and a fourth location. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data from the second shape sensor section.

Abstract translation: 一种操作形状感测装置的方法，包括从包括在第一位置和第二位置之间延伸的第一细长光纤的第一形状传感器部分接收第一形状数据。 该方法还包括接收第二形状数据前面的第二形状传感器部分，该第二形状传感器部分包括在第三位置和第四位置之间延伸的第二细长光纤。 该方法还包括使用来自第二形状传感器部分的第二形状数据确定第一形状传感器部分的端部的位置。