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11.发明申请公开(公告)号：US20250032198A1
公开(公告)日：2025-01-30
申请号：US18919067
申请日：2024-10-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Troy K. Adebar , Sungwon Yoon , Hui Zhang , Tao Zhao
IPC: A61B34/20 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/00 , G06T7/20 , G06T7/50 , G06T7/70 , G06V10/74
Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.
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12.发明公开公开(公告)号：US20230346479A1
公开(公告)日：2023-11-02
申请号：US18041373
申请日：2021-07-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Leah Muller , Paris A. Hajali, Jr. , Hui Zhang
CPC classification number: A61B34/10 , A61B34/25 , A61B34/30 , A61B34/20 , A61B2034/105 , A61B2034/107 , A61B2034/301 , A61B2034/2051 , A61B2034/2061
Abstract: Systems, devices, methods, and computer program products for identifying and mitigating image-to-body divergence are disclosed herein. In some embodiments, a method includes receiving sensor data from a medical device while the medical device is inserted within an anatomic region of a patient and after it has been registered to an anatomic model of the anatomic region, where the anatomic model is based on previously-obtained image data of the anatomic region and includes a virtual path extending throughout the anatomic model to an anatomic structure of interest, and where sensor data indicates a location of at least a portion of the medical device; comparing the sensor data to a corresponding portion of the virtual path; based at least in part on the comparison, producing a divergence classifier indicative of a divergence of the anatomic region from the anatomic model; and generating an alert when the divergence classifier exceeds a predetermined threshold.
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13.发明公开公开(公告)号：US20230281841A1
公开(公告)日：2023-09-07
申请号：US17913770
申请日：2021-03-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： TIMOTHY D. SOPER , Hui Zhang
CPC classification number: G06T7/37 , A61B34/20 , G06T11/001 , A61B2034/2061 , A61B34/30
Abstract: Devices, systems, methods, and computer program products for combining positional sensor data and endoscopic image data to improve registrations between (i) real patient anatomy within an anatomic region navigated by a medical instrument system and (ii) an image of the anatomic region generated from preoperative and/or intraoperative imaging are disclosed herein. When adequately registered, the tracked position of the medical instrument system within the anatomic region can be mapped to a correct position within the anatomic model for use in, for example, image-guided medical procedures. In some embodiments, the present technology provides visual guidance following registration in the form of a virtual navigational image from a viewpoint of the medical instrument system that is generated within the anatomic model at a location corresponding to a location of the medical instrument system within the anatomic region.
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Patent Agency Ranking
公开(公告)号：US20230091099A1
公开(公告)日：2023-03-23
申请号：US17790050
申请日：2020-12-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Abstract: A medical system comprises a display system and a medical instrument. The system further comprises a control system communicatively coupled to the display system. The control is system configured to display image data of a patient anatomy via the display system. The control system is further configured to determine, while the medical instrument navigates the patient anatomy, that a distal portion of the medical instrument is within a threshold distance of a target location in the patient anatomy. The control system is further configured to display an anatomical boundary via the display system if the distal portion of the medical instrument is within the threshold distance of the target location, the anatomical boundary indicating a surface of an anatomical structure of the patient anatomy.
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公开(公告)号：US20240390071A1
公开(公告)日：2024-11-28
申请号：US18696292
申请日：2022-09-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bai Wang , Shiyang Chen , Sabrina A. Cismas , Joy Janku , Sida Li , Hui Zhang
Abstract: A system may comprise one or more processors and memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the one or more processors, may cause the system to receive image data including a segmented candidate target nodule, receive a seed point, and determine if the segmented candidate target nodule is within a threshold proximity of the seed point. Based on a determination that the segmented candidate target nodule is within the threshold proximity of the seed point, the segmented candidate target nodule may be identified as an identified target nodule. A target nodule boundary corresponding to the identified target nodule may be displayed.
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16.发明授权公开(公告)号：US12144564B2
公开(公告)日：2024-11-19
申请号：US17774797
申请日：2020-11-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Troy K. Adebar , Sungwon Yoon , Hui Zhang , Tao Zhao
IPC: A61B34/20 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/00 , G06T7/20 , G06T7/50 , G06T7/70 , G06V10/74
Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.
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公开(公告)号：US20240371100A1
公开(公告)日：2024-11-07
申请号：US18773097
申请日：2024-07-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Hui Zhang , Junning Li , Bai Wang , Tao Zhao
Abstract: An exemplary system accesses a three-dimensional (3D) model of an anatomical structure, applies a first detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure, applies a second detection process, different from the first detection process, to the 3D model to detect a non-single-layer anatomical feature in the anatomical structure, and provides a representation of the anatomical structure based on the 3D model, the detected single-layer anatomical structure, and the detected non-single-layer anatomical structure. In some implementations, the representation of the anatomical structure and a representation of a potential path to be traversed by a medical instrument in the anatomical structure are displayed.
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公开(公告)号：US20230034112A1
公开(公告)日：2023-02-02
申请号：US17789958
申请日：2020-12-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Abstract: A medical system comprises a display system, a user input device, and a control system communicatively coupled to the display system and the user input device. The control system is configured to display image data of an anatomical region via the display system, determine a target location in the anatomical region, and determine an anatomical boundary based on the target location. The anatomical boundary indicates a surface of an anatomical structure in the anatomical region. The control system is further configured to determine a trajectory zone around a path between an exit point and the target location. The control system is further configured to determine a zone boundary based on an intersection of the trajectory zone with the anatomical boundary.
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