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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
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.
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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：US20200289023A1
公开(公告)日：2020-09-17
申请号：US16837159
申请日：2020-04-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
IPC: A61B5/06 , A61B17/3209 , A61B10/02 , A61B17/34 , A61B34/20
Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.
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公开(公告)号：US20200155116A1
公开(公告)日：2020-05-21
申请号：US16751797
申请日：2020-01-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
Abstract: A system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.
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15.发明申请公开(公告)号：US20200022769A1
公开(公告)日：2020-01-23
申请号：US16570917
申请日：2019-09-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dorin Panescu , Daniel H. Jones , Christopher B. Allenby
IPC: A61B34/00 , A61B34/32 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/10 , A61B1/00 , A61B1/04 , A61B1/06
Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.
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Patent Agency Ranking
公开(公告)号：US20180325419A1
公开(公告)日：2018-11-15
申请号：US16025688
申请日：2018-07-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
IPC: A61B5/06
CPC classification number: A61B5/061 , A61B5/065 , A61B5/7425 , A61B34/20 , A61B2034/2051 , G06F19/00
Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.
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公开(公告)号：US09636040B2
公开(公告)日：2017-05-02
申请号：US13751462
申请日：2013-01-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Giuseppe Maria Prisco , David Q. Larkin , Simon P. DiMaio , Dorin Panescu
CPC classification number: A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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18.发明授权Systems and methods for robotic medical system integration with external imaging 有权机器人医疗系统与外部成像整合的系统和方法公开(公告)号：US09592095B2
公开(公告)日：2017-03-14
申请号：US14278812
申请日：2014-05-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Dorin Panescu , Jonathan Michael Sorger , Prashant Chopra , Tao Zhao
CPC classification number: A61B34/32 , A61B17/00234 , A61B17/3478 , A61B34/10 , A61B34/30 , A61B2034/105 , A61B2034/107 , A61B2034/2065 , A61B2034/302 , A61B2034/306 , A61N5/1077 , G06F19/00
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).
Abstract translation: 一种医疗机器人系统及其操作方法包括：获取患者解剖结构的术中外部图像数据，并使用该图像数据生成用于医疗机器人系统的控制系统的建模调整（例如，更新解剖模型和/或精炼仪器 注册）和/或调整程序控制方面（例如，调节物质或治疗递送，改善靶向性和/或跟踪性能）。
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公开(公告)号：US20170014194A1
公开(公告)日：2017-01-19
申请号：US15275955
申请日：2016-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
CPC classification number: A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。
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公开(公告)号：US12232835B2
公开(公告)日：2025-02-25
申请号：US18793544
申请日：2024-08-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
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).
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