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

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

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：US10772485B2

公开(公告)日：2020-09-15

申请号：US16509177

申请日：2019-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B34/20

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

公开(公告)号：US20200008874A1

公开(公告)日：2020-01-09

申请号：US16491244

申请日：2018-03-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/10 ,  G16H20/40 ,  G16H50/50 ,  A61B34/20 ,  A61B5/00 ,  A61M25/01

Abstract: A medical system comprises a robotic manipulator arm and an imaging probe coupled to the robotic manipulator arm such that the imaging probe is movable in connection with the robotic manipulator arm. The system also comprises a control system in communication with the robotic manipulator arm and the imaging probe. The control system performs operations comprising extracting system information. The system information includes kinematic information from a robotic arm of a medical system, setup information, or a combination of the kinematic information and setup information associated with a medical procedure to be performed. The control system also generates, by a control system processor, a first registration between a first set of model points of a model of a patient anatomy of interest and a second set of intra-operatively collected captured points of a portion of the patient anatomy of interest, wherein the registration is based on the extracted system information.

公开(公告)号：US20170265952A1

公开(公告)日：2017-09-21

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 ,  A61B90/50 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  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：US12245833B2

公开(公告)日：2025-03-11

申请号：US18521863

申请日：2023-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/10 ,  A61B1/00 ,  A61B34/20 ,  A61B34/37 ,  G06F30/23 ,  G06T3/14 ,  G06T7/33 ,  G06T17/20

Abstract: A method includes collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient in which the measured points are based on a position of the flexible catheter in a patient space, assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways, comparing the plurality of subsets to identify an optimal subset of the plurality of subsets, and registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.

公开(公告)号：US20250032195A1

公开(公告)日：2025-01-30

申请号：US18914969

申请日：2024-10-14

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 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/00 ,  G06T7/30 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US20240225746A9

公开(公告)日：2024-07-11

申请号：US18260291

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Kevin X. Pluckter ,  Timothy D. Soper ,  Troy K. Adebar

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/2065

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

公开(公告)号：US20240197408A1

公开(公告)日：2024-06-20

申请号：US18539029

申请日：2023-12-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B17/00 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00006 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/10 ,  A61B2017/00296 ,  A61B2034/105 ,  A61B2034/2061

Abstract: A method comprises inserting, via a drive unit, a flexible elongate device into a passageway; recording, via one or more hardware processors communicatively coupled to a tracking system that is communicatively coupled to the drive unit, a first positional data point of the flexible elongate device at an insertion distance during the inserting; retracting, via the drive unit, the flexible elongate device; recording, via the one or more hardware processors, a second positional data point of the flexible elongate device at the insertion distance during the retracting; combining the first and second positional data points to create a third positional data point; and registering, via the one or more hardware processors, the third positional data point with a model of the passageway. The registering includes matching the third positional data point with a corresponding common passageway model data point.

公开(公告)号：US20240070883A1

公开(公告)日：2024-02-29

申请号：US18260310

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Kevin X. Pluckter ,  Troy K. Adebar

IPC: G06T7/33 ,  A61B1/00 ,  A61B1/045 ,  A61B5/06 ,  A61B34/10 ,  G06T7/50 ,  G06T17/20 ,  G06T19/20

CPC classification number: G06T7/344 ,  A61B1/00193 ,  A61B1/045 ,  A61B5/06 ,  A61B34/10 ,  G06T7/50 ,  G06T17/20 ,  G06T19/20 ,  A61B2034/105 ,  G06T2207/10028 ,  G06T2210/41 ,  G06T2219/2004

Abstract: Devices, systems, methods, and computer program products for performing a medical procedure are disclosed herein. In some embodiments, a system for performing a medical procedure in an anatomic region includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can also include a positional sensor associated with the medical instrument. The system can be configured to receive a model of the anatomic region. The system can obtain image data from the image capture device and a set of coordinate points from the positional sensor. The system can generate a registration between the model and the anatomic region based on the image data and the coordinate points.

公开(公告)号：US20230284876A1

公开(公告)日：2023-09-14

申请号：US18179874

申请日：2023-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B1/00 ,  G06T7/33 ,  A61B34/20 ,  A61B34/37 ,  A61B10/04 ,  A61B34/35 ,  G06T19/20 ,  A61B1/267 ,  G06T19/00 ,  A61B5/06 ,  A61B1/05 ,  A61B34/00 ,  A61B1/005 ,  G06T7/10

CPC classification number: A61B1/0005 ,  G06T7/344 ,  A61B34/20 ,  A61B34/37 ,  A61B10/04 ,  A61B34/35 ,  G06T19/20 ,  A61B1/2676 ,  G06T19/00 ,  G06T19/006 ,  A61B5/06 ,  G06T7/337 ,  A61B1/05 ,  A61B34/25 ,  A61B1/005 ,  G06T7/33 ,  A61B1/009 ,  G06T7/10 ,  G06T2207/30061 ,  A61B2034/2051 ,  G06T2207/10068 ,  A61B2034/2061

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.