公开(公告)号：US11723606B2

公开(公告)日：2023-08-15

申请号：US17127888

申请日：2020-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

CPC classification number: A61B5/7425 ,  A61B1/00006 ,  A61B1/000094 ,  A61B1/045 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B5/7285 ,  A61B2017/00699 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.

公开(公告)号：US11672412B2

公开(公告)日：2023-06-13

申请号：US16754939

申请日：2018-10-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/00 ,  A61B17/00 ,  A61B1/005 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/0051 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/76 ,  A61B2017/0011 ,  A61B2017/00115 ,  A61B2017/00296 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2562/0261

Abstract: A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.

公开(公告)号：US20230028738A1

公开(公告)日：2023-01-26

申请号：US17952043

申请日：2022-09-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B1/00 ,  A61B1/01 ,  A61B1/005 ,  A61B5/06

Abstract: A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

公开(公告)号：US11517200B2

公开(公告)日：2022-12-06

申请号：US16355366

申请日：2019-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. Herzlinger ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B5/00 ,  A61B1/267 ,  A61B1/00 ,  A61B1/06 ,  A61B5/08

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.

公开(公告)号：US20220378509A1

公开(公告)日：2022-12-01

申请号：US17830111

申请日：2022-06-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： PRASHANT CHOPRA ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/30 ,  G06T19/20 ,  A61B34/20

Abstract: A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US20220343504A1

公开(公告)日：2022-10-27

申请号：US17859871

申请日：2022-07-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  A61B1/00 ,  G06T7/33 ,  A61B34/30 ,  A61B34/10 ,  A61B34/35 ,  A61M25/01

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageway's. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.

公开(公告)号：US11471066B2

公开(公告)日：2022-10-18

申请号：US16752064

申请日：2020-01-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anoop B. Kowshik ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Carolyn M. Fenech

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61M25/01 ,  A61B90/00 ,  A61B34/30

Abstract: A robotic system includes a manipulator assembly including at least one actuator, a control system including at least one processor configured to control the manipulator assembly, an elongate flexible catheter configured to be manipulated by the at least one actuator, and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure. The second alignment feature is configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.

公开(公告)号：US20220233265A1

公开(公告)日：2022-07-28

申请号：US17720151

申请日：2022-04-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/20 ,  A61B34/00 ,  A61B34/37 ,  A61B90/50

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：US11375919B2

公开(公告)日：2022-07-05

申请号：US16193997

申请日：2018-11-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  G06T7/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B5/00 ,  A61B90/00 ,  A61B17/00

Abstract: A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements.

公开(公告)号：US11278354B2

公开(公告)日：2022-03-22

申请号：US15759129

申请日：2016-09-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B1/005 ,  A61B34/20 ,  A61B90/00 ,  A61B5/06 ,  A61B1/267 ,  A61B17/00 ,  A61B34/10 ,  A61B34/00

Abstract: A method includes operating an optical tracking sensor to track configurations of first and second sets of optical fiducials, the first set on a patient and the second set on a reference portion of a medical instrument including an elongated flexible body and a rigid proximal body comprising a reference portion. A teleoperational manipulator is configured to move the rigid proximal body and second set along a fixed linear path. The method includes receiving shape information from a shape sensor and determining, using the second set, a position of a reference point of the shape sensor for a plurality of insertion measurements of a position measuring device. The method also includes determining a pose of a portion of the elongated flexible body with respect to a patient anatomy using the configuration of the first set of optical fiducials, the position of the reference point, and the shape information.