公开(公告)号：US10966790B2

公开(公告)日：2021-04-06

申请号：US16681003

申请日：2019-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US20200205904A1

公开(公告)日：2020-07-02

申请号：US16815328

申请日：2020-03-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra

IPC: A61B34/20 ,  A61B5/00 ,  A61B5/06 ,  A61B5/08 ,  G16H50/50 ,  A61B34/37 ,  A61B1/267 ,  A61B34/30 ,  A61B34/35

Abstract: A medical system comprises a flexible device configured to be positioned at least partially within a patient anatomy. The patient anatomy includes a plurality of anatomical passageways. The medical system further comprises a memory device including computer executable instructions, the computer executable instructions for performing operations. The operations comprise determining a shape of the flexible device and determining a deformation force for a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on the shape of the flexible device and the deformation force for the section of the flexible device. The operations further comprise generating a composite model of the patient anatomy based on the registering.

公开(公告)号：US20170189118A1

公开(公告)日：2017-07-06

申请号：US15116115

申请日：2015-02-03

Applicant: Intuitive Surgical Operations Inc.

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

IPC: A61B34/10 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T19/20 ,  G06T2210/41 ,  G06T2219/2021

Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20140188440A1

公开(公告)日：2014-07-03

申请号：US14144232

申请日：2013-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Carol Reiley ,  Tao Zhao ,  Dorin Panescu

IPC: A61B19/00 ,  A61B17/00 ,  A61B10/04 ,  A61B8/08 ,  A61B5/00

CPC classification number: A61B8/12 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4245 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

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.

Abstract translation: 规划展开介入器械的程序的方法包括接收解剖结构的模型。 解剖结构包括多个通道。 该方法还包括识别模型中的目标结构并且接收关于多个通道内介入器具的操作能力的信息。 该方法还包括识别用于定位介入器械的远侧尖端的计划部署位置，以基于介入器械的操作能力来执行目标结构上的过程。

公开(公告)号：US20250057613A1

公开(公告)日：2025-02-20

申请号：US18935057

申请日：2024-11-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US12082920B2

公开(公告)日：2024-09-10

申请号：US18311031

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/05 ,  A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US20240065769A1

公开(公告)日：2024-02-29

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

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T19/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T2210/41 ,  G06T2219/2021

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：US20230380716A1

公开(公告)日：2023-11-30

申请号：US18311031

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/30 ,  G16Z99/00

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B34/30 ,  A61B5/062 ,  A61B5/065 ,  G16Z99/00 ,  A61B2017/00699

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US20230372039A1

公开(公告)日：2023-11-23

申请号：US18306908

申请日：2023-04-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/34 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61N5/10

CPC classification number: A61B34/32 ,  A61B17/3478 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00234 ,  A61N5/1077 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US11666397B2

公开(公告)日：2023-06-06

申请号：US17075163

申请日：2020-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/34 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61N5/10 ,  A61B34/20

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61N5/1077 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306

Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.