公开(公告)号：US11464411B2

公开(公告)日：2022-10-11

申请号：US16491023

申请日：2018-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B34/37 ,  A61B10/04 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61M25/01

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, determine a distance between the elongate instrument and the profiled tissue.

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：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：US11219490B2

公开(公告)日：2022-01-11

申请号：US16331713

申请日：2017-09-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Lisa L. Ison

IPC: A61B34/20 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B90/13

Abstract: A teleoperative system includes a teleoperational manipulator, a flexible medical instrument, an entry port, a sensor system, and a control system. The flexible medical instrument is coupled to and movable by the teleoperational manipulator. The entry port provides a passageway for insertion of the flexible medical instrument into a patient body. The sensor system includes a first sensor fixedly coupled to the entry port. The control system is configured to use information transmitted by the first sensor to determine a position and orientation of the entry port with respect to the flexible medical instrument.

公开(公告)号：US20210186556A1

公开(公告)日：2021-06-24

申请号：US17177932

申请日：2021-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher R. Carlson ,  Federico Barbagli ,  Randall L. Schlesinger

IPC: A61B17/34 ,  A61B10/02 ,  A61B10/04 ,  A61B5/06

Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instillment at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

公开(公告)号：USD892818S1

公开(公告)日：2020-08-11

申请号：US29653032

申请日：2018-06-12

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Ruchi Bhatt ,  Federico Barbagli ,  Christopher R. Carlson ,  Energy Cruse, II ,  Vincent Duindam ,  Oliver J. Wagner ,  Scott S. Ichikawa ,  Aaron B. Tinling

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：US20240390030A1

公开(公告)日：2024-11-28

申请号：US18668924

申请日：2024-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli ,  Randall L. Schlesinger

IPC: A61B17/34 ,  A61B5/0538 ,  A61B5/06 ,  A61B10/02 ,  A61B10/04 ,  A61B10/06 ,  A61B34/30 ,  A61B90/00

Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

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.

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

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.