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    Systems and methods for registration of multiple vision systems
    192.
    发明授权
    Systems and methods for registration of multiple vision systems 有权

    公开(公告)号：US12226202B2

    公开(公告)日：2025-02-18

    申请号：US18405859

    申请日：2024-01-05

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Prashant Chopra

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

    Abstract: A system comprises a processor and a memory storing computer-readable instructions that, when executed by the processor, cause the system to: define a subregion of a model of an anatomic region, the subregion including a plurality of virtual tissue structures and corresponding to an area surrounding a tip of an image capture probe located within the anatomic region; compare a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures; based on the comparison, determine a respective similarity measure between the image and each virtual tissue structure; identify a closest matched virtual tissue structure based on the determined similarity measures; and based on identifying the closest matched virtual tissue structure, register the image to the model to determine a virtual position for the image capture probe with respect to the model.

    DETECTING AND REPRESENTING ANATOMICAL FEATURES OF AN ANATOMICAL STRUCTURE
    195.
    发明申请
    DETECTING AND REPRESENTING ANATOMICAL FEATURES OF AN ANATOMICAL STRUCTURE 有权

    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

    IPC: G06T17/20 ,  A61B34/10 ,  G06T7/00

    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.

    Systems and methods of registration for image-guided procedures
    196.
    发明授权
    Systems and methods of registration for image-guided procedures 有权

    公开(公告)号：US12096996B2

    公开(公告)日：2024-09-24

    申请号：US18322410

    申请日：2023-05-23

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao

    IPC: A61B34/20 ,  A61B34/35 ,  A61B1/00 ,  A61B1/267

    CPC classification number: A61B34/20 ,  A61B34/35 ,  A61B1/00045 ,  A61B1/2676 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065

    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.

    SYSTEMS AND METHODS FOR REGISTRATION OF MULTIPLE VISION SYSTEMS
    198.
    发明公开
    SYSTEMS AND METHODS FOR REGISTRATION OF MULTIPLE VISION SYSTEMS 审中-公开

    公开(公告)号：US20240252057A1

    公开(公告)日：2024-08-01

    申请号：US18405859

    申请日：2024-01-05

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Prashant Chopra

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

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

    Abstract: A system comprises a processor and a memory storing computer-readable instructions that, when executed by the processor, cause the system to: define a subregion of a model of an anatomic region, the subregion including a plurality of virtual tissue structures and corresponding to an area surrounding a tip of an image capture probe located within the anatomic region; compare a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures; based on the comparison, determine a respective similarity measure between the image and each virtual tissue structure; identify a closest matched virtual tissue structure based on the determined similarity measures; and based on identifying the closest matched virtual tissue structure, register the image to the model to determine a virtual position for the image capture probe with respect to the model.

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