公开(公告)号：US11759262B2

公开(公告)日：2023-09-19

申请号：US15564509

申请日：2016-04-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10 ,  A61B34/35 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  G06T7/38 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B1/009 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  G06T7/0012 ,  G06T7/30 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/207 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/397 ,  A61B2090/3945 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

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：US20230240750A1

公开(公告)日：2023-08-03

申请号：US18002840

申请日：2021-05-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Tao Zhao ,  Federico Barbagli ,  Pechin Chien Pau Lo

IPC: A61B34/10 ,  G06T19/20

CPC classification number: A61B34/10 ,  G06T19/20 ,  A61B2034/105 ,  G06T2219/2004

Abstract: Devices, systems, methods, and computer program products for planning medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure includes a processor and memory operably coupled to the processor. The memory stores instructions that, when executed by the processor, cause the system to perform operations including receiving a three-dimensional model of an anatomic region of a patient and evaluating whether the three-dimensional model is suitable for use in a registration procedure to be performed in the anatomic region. The evaluating includes: analyzing a span of the three-dimensional model along at least two different directions, determining whether the three-dimensional model includes at least one segmented component corresponding to at least one structure of the anatomic region, and performing a registration between the three-dimensional model and a virtual registration data set.

公开(公告)号：US11707336B2

公开(公告)日：2023-07-25

申请号：US16711348

申请日：2019-12-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. Dimaio ,  Paul E. Lilagan ,  Tao Zhao

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/35 ,  A61B34/00 ,  A61B90/98 ,  G05B15/02 ,  A61B34/30 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207 ,  A61B2017/00221 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/741 ,  A61B2090/397 ,  A61B2090/3937 ,  A61B2090/3945 ,  Y10S901/02 ,  Y10S901/46

Abstract: A method and system for hand tracking in a robotic system includes a hand tracking system and a controller coupled to the hand tracking system. The controller is configured to receive, from the hand tracking system, a plurality of locations of a hand; determine if the hand is in a first hand pose based on the plurality of locations; in response to determining that the hand is in the first hand pose, and switch the robotic system to a hand trajectory detection mode. While in the hand trajectory detection mode, the control unit is configured to detect, based on hand tracking information from the hand tracking system, that the hand has performed a first hand trajectory of a plurality of known hand trajectories; and in response to detecting the first hand trajectory, change a mode of operation of the robotic system.

公开(公告)号：US20230145309A1

公开(公告)日：2023-05-11

申请号：US18150105

申请日：2023-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bai Wang ,  Federico Barbagli ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Pechin Chien Pau Lo ,  Oscar G. Salazar ,  Aaron B. Tinling ,  Oliver J. Wagner ,  Tao Zhao

IPC: A61B34/00 ,  A61B34/10 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883

CPC classification number: A61B34/25 ,  A61B34/10 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883 ,  A61B2034/105 ,  A61B2034/107

Abstract: A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.

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.

Inventor： Bai Wang ,  Energy Cruse, II ,  Joy Janku ,  Sida Li ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00

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.

公开(公告)号：US11517184B2

公开(公告)日：2022-12-06

申请号：US16481990

申请日：2018-01-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B1/005 ,  A61B34/20 ,  A61B1/00 ,  A61B1/04 ,  A61B1/267

Abstract: A medical device includes an elongate device and one or more processors coupled to the elongate device. The elongate device includes a steerable distal end and a shape sensor located along a length of the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to, based on information from a sensor, monitor an insertion motion of the elongate device, detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. The data collection event is at least partially based on a change in direction of the insertion motion of the elongate device.

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：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.