公开(公告)号：US20250064338A1

公开(公告)日：2025-02-27

申请号：US18949201

申请日：2024-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00

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 element

公开(公告)号：US20250040996A1

公开(公告)日：2025-02-06

申请号：US18882391

申请日：2024-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/20 ,  A61B5/06 ,  A61B90/00

Abstract: A method of operating a shape sensing apparatus is provided. The method comprises receiving shape data from an elongated shape sensor having a first portion coupled to a reference fixture, a second portion coupled to an anatomic target, and a third portion coupled to the reference fixture. The first and third portions are maintained in a known kinematic relationship. The method further comprises determining a first shape of the elongated shape sensor between the first and second portions. The method further comprises determining a second shape of the elongated shape sensor between the third and second portions. The method further comprises determining a position of the second portion at the anatomic target from the first and second shapes.

公开(公告)号：US12186031B2

公开(公告)日：2025-01-07

申请号：US18349025

申请日：2023-07-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US12171543B2

公开(公告)日：2024-12-24

申请号：US18339178

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T7/00 ,  A61B17/00 ,  A61B90/00

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: generate a plurality of linked bounded-surface elements corresponding to a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion of the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the plurality of linked bounded-surface elements; and based on the registering, display a composite image including an instrument image of the elongate instrument displayed within a model of the set of connected passageways.

公开(公告)号：US12161423B2

公开(公告)日：2024-12-10

申请号：US18465876

申请日：2023-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.

公开(公告)号：US20240350209A1

公开(公告)日：2024-10-24

申请号：US18667785

申请日：2024-05-17

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 ,  A61B17/24 ,  A61B34/00 ,  A61B34/20 ,  G01B11/24 ,  G01D5/353 ,  H04L9/40 ,  H04W4/80 ,  H04W12/06 ,  A61B18/00 ,  A61B18/20

CPC classification number: A61B34/30 ,  A61B17/24 ,  A61B34/20 ,  A61B34/71 ,  G01B11/24 ,  G01D5/35316 ,  H04L63/0428 ,  H04L63/08 ,  H04L63/0807 ,  H04W4/80 ,  H04W12/06 ,  H04W12/068 ,  A61B2018/00035 ,  A61B2018/2005 ,  A61B2018/202 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2562/00

Abstract: A system comprises a manually operated instrument, a reference fixture positioned in a fixed world reference frame, and a shape sensor coupled to the manually operated instrument. The shape sensor extends from the manually operated instrument to the reference fixture. The system further comprises a controller configured to receive, from the shape sensor, shape information for the manually operated instrument. The controller is further configured to determine a pose of the manually operated instrument in the fixed world reference frame based on the shape information for the manually operated instrument.

公开(公告)号：US20240281976A1

公开(公告)日：2024-08-22

申请号：US18652927

申请日：2024-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  A61B6/00 ,  A61B6/12 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G06T11/00

CPC classification number: G06T7/0014 ,  A61B6/12 ,  A61B6/487 ,  A61B6/5235 ,  A61B34/10 ,  A61B34/20 ,  G06T11/003 ,  A61B6/5247 ,  A61B2034/105 ,  A61B2034/2046 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2090/3762 ,  G06T2207/10064 ,  G06T2207/10072 ,  G06T2207/30004

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.

公开(公告)号：US20240245476A1

公开(公告)日：2024-07-25

申请号：US18602901

申请日：2024-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

公开(公告)号：US20240216085A1

公开(公告)日：2024-07-04

申请号：US18544287

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

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

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

Abstract: A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument further includes a sensor apparatus configured to generate sensor data about the flexible section and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to at least the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding stiffness of the surgical instrument to derive an internal actuation force applied by the force transmission mechanism.

公开(公告)号：US12004830B2

公开(公告)日：2024-06-11

申请号：US16638660

申请日：2018-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Vincent Duindam

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/062

Abstract: A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.