公开(公告)号：US20240041531A1

公开(公告)日：2024-02-08

申请号：US18457815

申请日：2023-08-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/032 ,  A61B6/466 ,  A61B1/000094 ,  A61B1/009 ,  A61B10/02

Abstract: A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.

公开(公告)号：US20240033013A1

公开(公告)日：2024-02-01

申请号：US18482346

申请日：2023-10-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Cristian Bianchi ,  Vincent Duindam ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B17/00 ,  A61M25/01 ,  G06T19/00 ,  G06T19/20 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61M25/0105 ,  G06T19/006 ,  G06T19/20 ,  A61B34/35 ,  G06T19/003 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2017/00115 ,  A61B2017/00199 ,  A61B2017/003 ,  A61M2025/0166 ,  G06T2219/2012 ,  A61B2034/101

Abstract: A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.

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：US20230270980A1

公开(公告)日：2023-08-31

申请号：US18313961

申请日：2023-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/0052 ,  A61B1/018 ,  A61B5/065 ,  A61B10/02 ,  A61M25/0074 ,  A61M25/003 ,  A61B1/01 ,  A61B5/06 ,  A61B10/04 ,  A61M25/0113 ,  A61B2034/2051

Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

公开(公告)号：US11612384B2

公开(公告)日：2023-03-28

申请号：US16307995

申请日：2017-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B1/267 ,  A61B5/06 ,  A61M25/01

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

公开(公告)号：US11445934B2

公开(公告)日：2022-09-20

申请号：US15329676

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/73 ,  G06T7/149 ,  G06T7/50 ,  G06T7/00

Abstract: A system comprises a medical instrument, including a sensing tool, and a processing unit configured to apply a segmentation function using a first seed to a three-dimensional image of a patient anatomy to create a model; receive position data from the instrument while navigating the patient anatomy; register a position of the instrument with the model; receive data related to the patient anatomy from the sensing tool; and update the model in response to detecting a difference between the model and the patient anatomy. Updating the model includes reapplying the segmentation function using a second seed corresponding to a passageway of the patient anatomy that is not present within the model. Detecting the difference between the model and the patient anatomy includes analyzing temporal information obtained from shape data generated by the sensing tool while the instrument traverses portions of the patient anatomy not represented by the model.

公开(公告)号：USD957413S1

公开(公告)日：2022-07-12

申请号：US29743824

申请日：2020-07-24

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Federico Barbagli ,  Ruchi C. Bhatt ,  Christopher R. Carlson ,  Energy Cruse, II ,  Vincent Duindam ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

公开(公告)号：US11266466B2

公开(公告)日：2022-03-08

申请号：US14908386

申请日：2014-07-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q Larkin ,  Vincent Duindam

IPC: A61B34/20 ,  A61B5/06 ,  A61B90/00

Abstract: A method of operating a shape sensing apparatus comprises receiving first shape data from a first shape sensor section including a first elongated optical fiber section extending between a first location coupled to a reference fixture and a second location coupled to a first target fixture. The method further comprises receiving second shape data from a second shape sensor section including a second elongated optical fiber section extending between a third location coupled to the reference fixture and a fourth location coupled to the first target fixture. The first and third locations are maintained in a first known kinematic relationship, and the second and fourth locations are maintained in a second known kinematic relationship. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data and using the first and second known kinematic relationships.

公开(公告)号：US11116590B2

公开(公告)日：2021-09-14

申请号：US16139451

申请日：2018-09-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  B25J9/16 ,  G01L5/22 ,  B25J18/06 ,  A61B34/00 ,  B25J13/02

Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

公开(公告)号：US11116586B2

公开(公告)日：2021-09-14

申请号：US16314317

申请日：2017-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Federico Barbagli ,  Reuben D. Brewer ,  Christopher R. Carlson ,  Vincent Duindam ,  Tania K. Morimoto ,  Michael D. Paris ,  Oliver J. Wagner

IPC: A61B34/00 ,  A61B34/35 ,  A61B46/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B1/00 ,  A61M25/01

Abstract: Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.