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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.
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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
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.
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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
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.
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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
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。
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175.发明授权Systems and methods for reducing measurement error in optical fiber shape sensors 有权降低光纤形状传感器测量误差的系统和方法公开(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
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。
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Patent Agency Ranking
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。
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公开(公告)号：US20150265368A1
公开(公告)日：2015-09-24
申请号：US14665650
申请日：2015-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Donhowe , Tao Zhao , Timothy Soper , Federico Barbagli
CPC classification number: A61B5/7425 , A61B1/00006 , A61B1/00009 , A61B1/00165 , A61B1/00193 , A61B1/045 , A61B1/05 , A61B1/2676 , A61B5/06 , A61B5/062 , A61B5/065 , A61B5/7285 , A61B34/20 , A61B2017/00699 , A61B2034/2051 , A61B2034/2061
Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
Abstract translation: 对循环解剖运动进行建模的方法包括接收用于多个时间参数的循环移动的患者解剖结构中保持在内部并且以柔顺运动的介入仪器上的识别点的姿态数据集。 所述方法还包括针对所述多个时间参数中的每个时间参数处的参考点确定所识别的点的一组姿态差异，以及从所述一组姿态差异识别用于所述循环解剖运动的周期性信号。
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178.发明申请公开(公告)号：US20140051987A1
公开(公告)日：2014-02-20
申请号：US13964724
申请日：2013-08-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Anoop B. Kowshik , Carolyn M. Fench , Vincent Duindam , Caitlin Q. Donhowe
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.
Abstract translation: 导管系统包括细长的柔性导管和安装在导管上的支撑结构。 支撑结构包括第一对准特征和第二对准特征。 该系统还包括与第一对准特征配合的第一传感器部件和与第二对准特征配合的第二传感器部件。 第一传感器部件通过第一对准特征以至少一个自由度在相对于第二传感器部件固定。
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公开(公告)号：US20130303944A1
公开(公告)日：2013-11-14
申请号：US13889984
申请日：2013-05-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam
IPC: A61M25/09
CPC classification number: A61B5/062 , A61B5/065 , A61B5/6852 , A61B34/20 , A61B2034/2051 , A61B2034/302 , A61M25/09 , A61M2025/0166
Abstract: A sensing system includes an off-axis coil in which wire is wound in loops about a roll axis and at an angle to the roll axis. In particular, the loops define respective areas that have a normal direction at a non-zero angle relative to the roll axis. A field generator can generate a variable magnetic field through the coil, and sensor logic can be coupled to the coil and configured to determine a measurement of a roll angle of the coil about the first axis using an electrical signal induced in the coil.
Abstract translation: 感测系统包括离轴线圈，其中线缠绕在辊轴线上并且与辊轴线成一定角度。 特别地，环形件限定相对于辊轴线具有非零角度的法向方向的相应区域。 场发生器可以通过线圈产生可变磁场，并且传感器逻辑可以耦合到线圈并且被配置为使用在线圈中感应的电信号来确定围绕第一轴的线圈的侧倾角的测量。
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180.发明申请Systems and Methods for Registration of a Medical Device Using a Reduced Search Space 审中-公开使用缩小搜索空间注册医疗设备的系统和方法公开(公告)号：US20130303894A1
公开(公告)日：2013-11-14
申请号：US13893040
申请日：2013-05-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Prashant Chopra
IPC: A61B5/06
CPC classification number: A61B5/066 , A61B5/00 , A61B5/061 , A61B5/065 , A61B34/10 , A61B34/20 , A61B34/30 , A61B2017/00809 , A61B2034/108 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/365 , G06T7/0012
Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.
Abstract translation: 一种方法包括识别患者解剖结构的存储图像中的连接的解剖结构，并且生成表示所连接的解剖结构的多个圆柱形连杆元件。 该方法还包括接收对应于定位在所连接的解剖结构中的至少一个中的仪器上的点的跟踪数据; 并将仪器上的点与多个圆柱形联动元件中的一个相匹配。
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