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.

公开(公告)号：US11266327B2

公开(公告)日：2022-03-08

申请号：US16402531

申请日：2019-05-03

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 method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

公开(公告)号：US20210282662A1

公开(公告)日：2021-09-16

申请号：US17240154

申请日：2021-04-26

Applicant: Intuitive Surgical Operations, Inc

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a processor and a surgical device including a tracking system disposed along a length of an elongate flexible body. The processor may receive a first model of anatomic passageways of a patient anatomy. The first model may include a set of model passageways representing proximal and distal branches. The processor may also receive from the tracking system a shape of the elongate flexible body positioned within the proximal and distal branches. The processor may also determine, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal and distal branches. The processor may also generate a second model by deforming the first model based on the set of forces and display the second model and a representation of the elongate flexible body within the second model.

公开(公告)号：US11026594B2

公开(公告)日：2021-06-08

申请号：US16114456

申请日：2018-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/05 ,  A61B5/06 ,  A61B5/00 ,  A61B34/30 ,  G06F19/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

Abstract: A medical system comprises a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device. The system further comprises a memory storing anatomical data describing a patient anatomy and comprises a processor configured for: generating a first model, including a set of anatomical passageways including a proximal branch connected to a distal branch, from the stored anatomical data; determining a shape of the elongate body positioned within the proximal and distal branches; computing, based on the determined shape, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the proximal and distal branches; deforming the first model into a second model of the set of anatomical passageways by adjusting a joint between branches in the anatomical passageways in the first model based on the total set of forces, to thereby change a pose of a branch through which the surgical device extends and an additional branch through which the surgical device does not extend; and displaying a representation of the second model and a representation of the surgical device as positioned within the second model.

公开(公告)号：US10896506B2

公开(公告)日：2021-01-19

申请号：US16076290

申请日：2017-02-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Michael D. Paris ,  Timothy D. Soper ,  Oliver J. Wagner

IPC: G06T7/00 ,  A61B34/20 ,  A61B6/12 ,  A61B6/00 ,  G06T11/00 ,  A61B90/00

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.