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    Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools
    221.
    发明授权
    Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools 有权

    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.

    ARM WITH A COMBINED SHAPE AND FORCE SENSOR
    222.
    发明申请
    ARM WITH A COMBINED SHAPE AND FORCE SENSOR 审中-公开

    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.

    ARM WITH A COMBINED SHAPE AND FORCE SENSOR
    223.
    发明申请
    ARM WITH A COMBINED SHAPE AND FORCE SENSOR 审中-公开

    公开(公告)号：US20190151033A1

    公开(公告)日：2019-05-23

    申请号：US16139451

    申请日：2018-09-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David Q. Larkin ,  Vincent Duindam

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

    Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING
    224.
    发明申请
    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING 审中-公开

    公开(公告)号：US20190008413A1

    公开(公告)日：2019-01-10

    申请号：US16114456

    申请日：2018-08-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

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

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

    ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS
    228.
    发明申请
    ELECTROMAGNETIC SENSOR WITH PROBE AND GUIDE SENSING ELEMENTS 审中-公开
    电磁传感器，带探头和指导传感元件

    公开(公告)号：US20160007880A1

    公开(公告)日：2016-01-14

    申请号：US14802199

    申请日：2015-07-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Vincent Duindam

    IPC: A61B5/06 ,  A61B19/00

    Abstract: A sensing system includes an off-axis coil in which wire is wound in loops about a roll axis and at an angle to the roll axis. In particular, the loops define respective areas that have a normal direction at a non-zero angle relative to the roll axis. A field generator can generate a variable magnetic field through the coil, and sensor logic can be coupled to the coil and configured to determine a measurement of a roll angle of the coil about the first axis using an electrical signal induced in the coil.

    Abstract translation: 感测系统包括离轴线圈，其中线缠绕在辊轴线上并且与辊轴线成一定角度。 特别地，环形件限定相对于辊轴线具有非零角度的法向方向的相应区域。 场发生器可以通过线圈产生可变磁场，并且传感器逻辑可以耦合到线圈并且被配置为使用在线圈中感应的电信号来确定围绕第一轴的线圈的侧倾角的测量。

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