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.

公开(公告)号：US10856770B2

公开(公告)日：2020-12-08

申请号：US14452302

申请日：2014-08-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Vincent Duindam

IPC: A61B1/005 ,  A61B1/01 ,  A61B1/05 ,  A61B5/06 ,  A61B1/00 ,  A61B1/273 ,  A61B34/20

Abstract: A surgical system comprises a display screen, an endoscopic device, and a non-transitory, computer-readable storage medium that stores a plurality of instructions for execution by one or more computer processors. The instructions are for: determining a current position of a reference point on the endoscopic device relative to a reference frame; determining a first vector from the current position to a position of a first landmark relative to the reference frame; transforming the first vector from the reference frame to an image reference frame that corresponds to a perspective of an image capturing device disposed at a tip of the endoscopic device; displaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device—the displayed graphical representation indicates a direction to steer the tip of the endoscopic device towards the first landmark; and periodically repeating the above processes.

公开(公告)号：US20200275860A1

公开(公告)日：2020-09-03

申请号：US16875747

申请日：2020-05-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam

IPC: A61B5/06 ,  A61M25/09 ,  A61B34/20

Abstract: A medical system comprises a probe comprising a coil and a terminal distal end. The medical system further comprises a guide instrument comprising a terminal distal end, a sensor, and a lumen sized to receive the probe. The probe is configured to be inserted through the lumen to reach a worksite. At the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument. The medical system further comprises processing hardware configured to receive a first signal from the coil and to receive a second signal from the sensor.

公开(公告)号：US10706543B2

公开(公告)日：2020-07-07

申请号：US15752154

申请日：2016-08-11

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 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

Abstract: A method includes accessing a set of model points of a model of one or more passageways of a patient; detecting a point collection condition in image data obtained from an image-capture device of a catheter based upon machine vision; automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture device; performing a point set registration algorithm using the set of model points of the model of one or more passageways of the patient and the set of measured points to produce a registered set of model points; and displaying a visual representation of the registered set of model points in a user interface provided by a display system.

公开(公告)号：US20200078103A1

公开(公告)日：2020-03-12

申请号：US16307995

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/00 ,  A61B10/04 ,  A61B90/00

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：US20200078096A1

公开(公告)日：2020-03-12

申请号：US16306418

申请日：2017-06-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/32 ,  A61B34/35 ,  A61B17/00

Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

公开(公告)号：US20200078095A1

公开(公告)日：2020-03-12

申请号：US16681003

申请日：2019-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

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

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.