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.

公开(公告)号：US10376134B2

公开(公告)日：2019-08-13

申请号：US15518385

申请日：2015-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B1/00 ,  G02B6/12 ,  A61B1/005 ,  A61B1/018 ,  A61B34/20

Abstract: An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.

公开(公告)号：US20190192234A1

公开(公告)日：2019-06-27

申请号：US16327219

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Christian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/374 ,  A61B2090/3762

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US10314656B2

公开(公告)日：2019-06-11

申请号：US15116115

申请日：2015-02-03

Applicant: Intuitive Surgical Operations, Inc.

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

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

Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises detecting deflection of the branched anatomical fomation with a shape sensor to create a three dimensional deformation field. The method further comprises applying the three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation. The method further comprises dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation. The method further comprises displaying a composite image including an image of an interventional instrument positioned within the branched anatomical formation and the dynamically displayed image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20190151034A1

公开(公告)日：2019-05-23

申请号：US16234227

申请日：2018-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  G01L5/22 ,  B25J18/06 ,  B25J9/16 ,  A61B34/00 ,  B25J13/02

Abstract: A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with video information, mechanical property data for the surgical instrument, and material property data for the surgical instrument to determine position and orientation information for the surgical instrument.