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    Systems and methods for interventional procedure planning
    231.
    发明授权
    Systems and methods for interventional procedure planning 有权

    公开(公告)号：US10588597B2

    公开(公告)日：2020-03-17

    申请号：US14144186

    申请日：2013-12-30

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Dorin Panescu

    IPC: A61B8/12 ,  A61B8/00 ,  A61B34/10 ,  A61B5/06 ,  A61B5/00 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

    Abstract: A method includes registering a distal segment of a guide catheter with a patient coordinate system; tracking a position of the distal segment; determining an insertion length based on the tracked position, wherein the imaging probe is disposed within the guide catheter; receiving an image of an anatomic structure from the imaging probe, the image having an image frame of reference, the distal segment having a catheter frame of reference; receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference; and transforming the location data from the image frame of reference to the catheter frame of reference based on the determined insertion length and the tracked position of the distal segment, wherein transforming the location data further includes determining a roll angle for the image frame of reference with respect to the catheter frame of reference.

    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS
    232.
    发明申请
    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS 审中-公开

    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.

    Estimation of a position and orientation of a frame used in controlling movement of a tool
    233.
    发明授权
    Estimation of a position and orientation of a frame used in controlling movement of a tool 有权

    公开(公告)号：US10582974B2

    公开(公告)日：2020-03-10

    申请号：US15719275

    申请日：2017-09-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

    IPC: A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

    Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

    GRAPHICAL USER INTERFACE FOR PLANNING A PROCEDURE
    235.
    发明申请
    GRAPHICAL USER INTERFACE FOR PLANNING A PROCEDURE 审中-公开

    公开(公告)号：US20200030044A1

    公开(公告)日：2020-01-30

    申请号：US16496034

    申请日：2018-04-18

    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 ,  G06F3/0481 ,  G06F3/0484 ,  G06F3/0488

    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.

    SYSTEMS AND METHODS FOR REGISTRATION OF MULTIPLE VISION SYSTEMS
    237.
    发明申请
    SYSTEMS AND METHODS FOR REGISTRATION OF MULTIPLE VISION SYSTEMS 审中-公开

    公开(公告)号：US20190209043A1

    公开(公告)日：2019-07-11

    申请号：US16353778

    申请日：2019-03-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Prashant Chopra

    IPC: A61B5/06 ,  G06T7/33 ,  A61B1/00 ,  A61B34/20

    CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B5/062 ,  A61B34/20 ,  A61B2034/2065 ,  G06T7/33 ,  G06T2207/10068 ,  G06T2207/30021

    Abstract: A medical system comprises an image capture probe having a camera at its tip, a sensor system, and a processor. The processor is configured to receive an image from the camera when the image capture probe is located within an anatomic region of a patient anatomy; identify the tip's position based on information received from the sensor system; identify a tissue structure in the image; and define a subregion of a model of the anatomic region that corresponds to an area surrounding the tip. The processor is configured to compare the tissue structure to at least a portion of virtual tissue structures in the subregion to identify a best matched virtual tissue structure. The processor is configured to register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip with respect to the model.

    Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools
    239.
    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.

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