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11.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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12.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：US12150718B2
公开(公告)日：2024-11-26
申请号：US18365710
申请日：2023-08-04
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 , A61B1/005 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/35 , G06T7/00 , G06T7/30 , A61B34/30 , A61B90/00 , G06T7/38
Abstract: A system includes a fixture having a known location in a surgical reference frame, a medical instrument, a position measuring device, and a computing system. The fixture includes a constraint structure having a known constraint structure pose in the surgical reference frame. The medical instrument includes a reference portion movably coupled to the fixture, an elongate flexible portion coupled to the reference portion, wherein the elongate flexible portion is sized to pass through the constraint structure, and a shape sensor. The position measuring device measures motion of the reference portion with respect to the fixture. The computing system is configured to receive shape information for the medical instrument, receive reference portion position information in the surgical reference frame, determine an estimated constraint structure pose from the reference portion position information and the shape information, determine a correction factor, and modify the shape information based upon the correction factor.
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公开(公告)号：US20240289958A1
公开(公告)日：2024-08-29
申请号：US18653066
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
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.
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公开(公告)号：US20240277421A1
公开(公告)日：2024-08-22
申请号：US18653383
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao , Caitlin Q. Donhowe
CPC classification number: A61B34/20 , A61B1/005 , A61B1/009 , A61B1/2676 , A61B5/064 , A61B17/00234 , A61B90/39 , A61B2017/003 , A61B2017/00809 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B34/25 , A61B2090/3614 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B90/37 , A61B2090/371 , A61B2090/3983
Abstract: A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.
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Patent Agency Ranking
公开(公告)号：US11791032B2
公开(公告)日：2023-10-17
申请号：US16802109
申请日：2020-02-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Federico Barbagli
IPC: A61B34/30 , G16H20/40 , G16H40/63 , G16H30/40 , A61B34/10 , A61B34/20 , A61B34/35 , A61B90/00 , A61B17/00 , A61B34/00
CPC classification number: G16H20/40 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/35 , G16H30/40 , G16H40/63 , A61B34/76 , A61B90/37 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/2072 , A61B2034/301 , A61B2090/064 , A61B2090/371 , A61B2090/373 , A61B2090/374 , A61B2090/376 , A61B2090/3735
Abstract: A medical system comprises a medical instrument system and an assembly removably coupled to the medical instrument system. The assembly is configured to operate the medical instrument system by moving it within an anatomic passageway. The medical system also comprises a sensor system coupled to the instrument system and configured to generate information including spatial data and shape data about the instrument system. The medical system also comprises a control system communicatively coupled to the instrument system, the assembly, and the sensor system. The control system receives, from the sensor system, a first set of the spatial data including position information for a distal end of the medical instrument system during a plurality of time periods. The control system also receives the shape data from the sensor system and filters the first set of the spatial data.
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公开(公告)号：US20230270980A1
公开(公告)日：2023-08-31
申请号：US18313961
申请日：2023-05-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Samuel Kwok Wai Au , Caitlin Q. Donhowe , Carolyn M. Fenech , Catherine J. Mohr , Giuseppe Maria Prisco
IPC: A61M25/06 , A61B1/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/00 , A61B1/01 , A61B10/04 , A61M25/01
CPC classification number: A61M25/0662 , A61B1/00006 , A61B1/00078 , A61B1/00154 , A61B1/0052 , A61B1/018 , A61B5/065 , A61B10/02 , A61M25/0074 , A61M25/003 , A61B1/01 , A61B5/06 , A61B10/04 , A61M25/0113 , A61B2034/2051
Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.
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公开(公告)号：US20220346751A1
公开(公告)日：2022-11-03
申请号：US17867212
申请日：2022-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
Abstract: A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.
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公开(公告)号：US11445934B2
公开(公告)日：2022-09-20
申请号：US15329676
申请日：2015-07-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Vincent Duindam , Caitlin Q. Donhowe , Timothy D. Soper , Federico Barbagli
Abstract: A system comprises a medical instrument, including a sensing tool, and a processing unit configured to apply a segmentation function using a first seed to a three-dimensional image of a patient anatomy to create a model; receive position data from the instrument while navigating the patient anatomy; register a position of the instrument with the model; receive data related to the patient anatomy from the sensing tool; and update the model in response to detecting a difference between the model and the patient anatomy. Updating the model includes reapplying the segmentation function using a second seed corresponding to a passageway of the patient anatomy that is not present within the model. Detecting the difference between the model and the patient anatomy includes analyzing temporal information obtained from shape data generated by the sensing tool while the instrument traverses portions of the patient anatomy not represented by the model.
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公开(公告)号：US20210073989A1
公开(公告)日：2021-03-11
申请号：US16950980
申请日：2020-11-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
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.
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