公开(公告)号：US20150148690A1

公开(公告)日：2015-05-28

申请号：US14531016

申请日：2014-11-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B5/00 ,  A61B5/08 ,  A61B5/20 ,  A61B5/02

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/00055 ,  A61B1/0051 ,  A61B1/2676 ,  A61B5/0037 ,  A61B5/02007 ,  A61B5/02028 ,  A61B5/08 ,  A61B5/20 ,  A61B5/4064 ,  A61B5/42 ,  A61B5/6852 ,  A61B5/7475 ,  A61B34/20 ,  A61B2017/00323 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2090/3614 ,  A61B2090/367 ,  A61B2576/023 ,  A61B2576/026 ,  G06T7/75 ,  G06T19/003 ,  G06T2207/10068

Abstract: A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.

Abstract translation: 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。

公开(公告)号：US20140343568A1

公开(公告)日：2014-11-20

申请号：US14276153

申请日：2014-05-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/301

Abstract: An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.

Abstract translation: 用于引导柔性器械的装置包括具有纵向轴线的细长支撑组件。 细长的支撑组件适于侧向地接合并且纵向地支撑细长的柔性仪器。

公开(公告)号：US20140024951A1

公开(公告)日：2014-01-23

申请号：US13944999

申请日：2013-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. HERZLINGER ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B5/00 ,  A61B1/267

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment.

Abstract translation: 可用于导管或类似导向仪器的视觉系统包括分布在环形区域中的受体。 每个受体具有仅覆盖对象环境的一部分的视场，并且每个受体的视野与其它受体的视场中的至少一个重叠。 处理系统可以从受体接收图像数据并且组合来自受体的图像数据以构建整个对象环境的视觉表示。

公开(公告)号：US20130276557A1

公开(公告)日：2013-10-24

申请号：US13920470

申请日：2013-06-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Guiseppe Maria Prisco ,  Theodore W. Rogers ,  John Ryan Steger

IPC: G01B21/22

CPC classification number: G01B21/22 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/2061 ,  A61B2090/067

Abstract: A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

Abstract translation: 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。