公开(公告)号：US12004820B2

公开(公告)日：2024-06-11

申请号：US17532369

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/20 ,  A61B1/00 ,  A61B5/00 ,  A61B5/01 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/12 ,  G06T7/33

CPC classification number: A61B34/20 ,  A61B1/0016 ,  A61B5/0066 ,  A61B5/015 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/062 ,  A61B5/066 ,  A61B6/032 ,  A61B8/0841 ,  A61B34/30 ,  A61B34/35 ,  A61B90/37 ,  G06T7/12 ,  G06T7/33 ,  G06T7/344 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  G06T2200/24 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10116 ,  G06T2207/30061 ,  G06T2207/30172

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.

公开(公告)号：US20240081775A1

公开(公告)日：2024-03-14

申请号：US18516835

申请日：2023-11-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B8/12 ,  A61B8/00 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B34/10

CPC classification number: A61B8/12 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B5/065 ,  A61B8/4245

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.

公开(公告)号：US11896364B2

公开(公告)日：2024-02-13

申请号：US17532039

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/05 ,  A61B5/06 ,  G06T7/33 ,  A61B34/20 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B5/066 ,  A61B1/009 ,  A61B1/000094 ,  A61B34/20 ,  G06T7/33 ,  A61B5/062 ,  A61B2034/2065 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the probe; compare a tissue structure in an image received from a camera positioned at the tip of the probe to a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; and based on identification of the closest matched virtual tissue structure, register the image to the model to identify a virtual probe position for the tip of the probe with respect to the model.

公开(公告)号：US20240023902A1

公开(公告)日：2024-01-25

申请号：US18339127

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045

CPC classification number: A61B5/7425 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00006 ,  A61B1/045 ,  A61B1/000094 ,  A61B2034/2061 ,  A61B2034/2051 ,  A61B2017/00699

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.

公开(公告)号：US20230301725A1

公开(公告)日：2023-09-28

申请号：US18322410

申请日：2023-05-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao

IPC: A61B34/20 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/35 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B1/00045

Abstract: A device comprises an instrument usable to collect location data for one or more passageways. The device further comprises one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data by clustering the plurality of points based on distances between points of the plurality of points. The processor(s) are further configured to create a passageway tree based on the organized points and to identify at least three non-collinear landmark locations within the passageway tree. The processor(s) are further configured to create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data. The processor(s) are further configured to register, using the seed transformation, the plurality of points to the model data for the one or more passageways.

公开(公告)号：US20230157783A1

公开(公告)日：2023-05-25

申请号：US17889722

申请日：2022-08-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kyle R. Miller ,  Joseph D. Bogusky ,  Duane W. Marion ,  Ian E. McDowall ,  Tabish Mustufa ,  Dinesh Rabindran ,  Benjamin J. Schoettgen ,  Jignesh Shah ,  Tao Zhao

IPC: A61B90/00 ,  A61B18/14

CPC classification number: A61B90/39 ,  A61B18/1492 ,  A61B2018/00494

Abstract: A computer-assisted medical device is configured and used to endoluminally navigate to a location in the gastrointestinal system and there treat certain body lumen wall areas while avoiding other body lumen wall areas. Embodiments ablate the inner mucosal layer and sub-mucosal nerve plexus of the stomach, duodenum and jejunum to effect treatment of insulin resistance and metabolic disorders, such as Type II diabetes (T2D), polycystic ovarian syndrome (PCOS), non-alcoholic steatohepatitis (NASH), non-alcoholic fatty liver disease (NAFLD), congestive heart failure (CHF) and obstructive sleep apnea (OSA). Various sensors are used to assist a clinical operator to navigate from the mouth through the pyloric sphincter and into and through the duodenum and/or jejunum. Various sensors are used to map and identify portions of the duodenum and/or jejunum. Various lumen wall ablation devices and methods are described. Various post-treatment assessments are described.

公开(公告)号：US11636597B2

公开(公告)日：2023-04-25

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

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

Abstract: A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.

公开(公告)号：US11576565B2

公开(公告)日：2023-02-14

申请号：US17550718

申请日：2021-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  A61B1/00 ,  B08B3/02 ,  B08B5/02

Abstract: A method comprises, based on a position of a medical instrument within a patient anatomy, determining, by a control system, whether an obstruction is on a surface of a lens of the medical instrument. The method further comprises, based on a determination that the obstruction is on the surface of the lens, instructing, by the control system, a valve control mechanism to open a valve to release a flow of pressurized fluid through a nozzle of the medical instrument and over the surface of the lens. The valve is configured to control provision of the pressurized fluid.

公开(公告)号：US11571262B2

公开(公告)日：2023-02-07

申请号：US16496034

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bai Wang ,  Federico Barbagli ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Pechin Chien Pau Lo ,  Oscar G. Salazar ,  Aaron B. Tinling ,  Oliver J. Wagner ,  Tao Zhao

IPC: A61B34/00 ,  A61B34/10 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883

Abstract: A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.

公开(公告)号：US11471221B2

公开(公告)日：2022-10-18

申请号：US16859755

申请日：2020-04-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  William C. Nowlin ,  Wenyi Zhao

IPC: A61B5/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10

Abstract: A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.