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公开(公告)号：US20200155116A1
公开(公告)日：2020-05-21
申请号：US16751797
申请日：2020-01-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
Abstract: A system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.
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公开(公告)号：US10022067B2
公开(公告)日：2018-07-17
申请号：US15627099
申请日：2017-06-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Anoop B. Kowshik , Caitlin Q. Donhowe , Vincent Duindam , Carolyn M. Fenech
Abstract: A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.
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公开(公告)号：US20170265952A1
公开(公告)日：2017-09-21
申请号：US15329899
申请日：2015-07-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Tao Zhao , Federico Barbagli , Vincent Duindam , Timothy D. Soper
CPC classification number: A61B34/35 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/50 , A61B2017/00694 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B2034/741 , A61B2034/742 , A61B2090/3614 , A61B2090/371
Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.
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24.发明授权公开(公告)号：US09517000B2
公开(公告)日：2016-12-13
申请号：US14042876
申请日：2013-10-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Amir Belson , Kristoffer J. Donhowe , Kenneth R. Krieg , Eric M. Storne , Thomas J. Yorkey , Jun Zhang
CPC classification number: A61B1/0051 , A61B1/00006 , A61B1/00009 , A61B1/00147 , A61B1/008 , A61B5/065 , A61B34/20 , A61B90/03 , A61B2017/003 , A61B2034/107 , A61B2034/301
Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.
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25.发明申请SYSTEMS AND METHODS FOR REDUCING MEASUREMENT ERROR IN OPTICAL FIBER SHAPE SENSORS 审中-公开用于降低光纤形状传感器测量误差的系统和方法公开(公告)号：US20160287344A1
公开(公告)日：2016-10-06
申请号：US15183936
申请日：2016-06-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Stephen J. Blumenkranz , Vincent Duindam
CPC classification number: A61B34/20 , A61B1/00165 , A61B1/00167 , A61B34/30 , A61B34/37 , A61B90/06 , A61B2018/00791 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , G02B6/00
Abstract: A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft and including a temperature sensor. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument.
Abstract translation: 一种形状检测装置包括一个包括具有中性轴的细长轴的仪器。 形状传感器还包括具有细长光纤的第一形状传感器，所述细长光纤在细长轴内在离中性轴线的第一径向距离处延伸。 该装置还包括形状传感器补偿装置，其在细长轴内延伸并且包括温度传感器。 该装置还包括跟踪系统，用于从第一形状传感器接收形状数据，并补偿来自形状传感器补偿装置的数据，以用于计算仪器的弯曲测量。
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Patent Agency Ranking
26.发明申请JOINTED LINK STRUCTURES EXHIBITING PREFERENTIAL BENDING, AND RELATED METHODS 审中-公开展示优先弯曲的接合链结构及相关方法公开(公告)号：US20140058364A1
公开(公告)日：2014-02-27
申请号：US14071163
申请日：2013-11-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe
IPC: A61B17/00
CPC classification number: A61B17/00 , A61B34/30 , A61B2034/306 , Y10T74/20323
Abstract: In accordance with various exemplary embodiments of the present teachings, a surgical device can include a first pair of articulably coupled links, a second pair of articulably coupled links, and a tension member coupled to the first pair of links and the second pair of links such that altering tension in the tension member exerts a force tending to articulate the first pair of links and the second pair of links so as to bend the first pair of links and the second pair of links. The surgical device can be configured such that the first pair of links has a lower resistance to bending than the second pair of links upon altering the tension in the tension member.
Abstract translation: 根据本教导的各种示例性实施例，手术装置可以包括第一对可铰接地联接的连杆，第二对可铰接地联接的连杆，以及联接到第一对链节和第二对链节的张力构件 张力构件中的改变张力施加倾向于使第一对链节和第二对链节铰接的力，以便弯曲第一对链节和第二对链节。 手术装置可以被配置为使得当改变张力构件中的张力时，第一对链节具有比第二对链节更低的弯曲阻力。
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27.发明申请METHOD AND SYSTEM FOR STEERABLE MEDICAL DEVICE PATH DEFINITION AND FOLLOWING DURING INSERTION AND RETRACTION 审中-公开用于可移植医疗设备路径定义的方法和系统，以及在插入和返回期间公开(公告)号：US20140031625A1
公开(公告)日：2014-01-30
申请号：US14042876
申请日：2013-10-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Amir Belson , Kristoffer J. Donhowe , Kenneth R. Krieg , Eric M. Storne , Thomas J. Yorkey , Jun Zhang
IPC: A61B1/005
CPC classification number: A61B1/0051 , A61B1/00006 , A61B1/00009 , A61B1/00147 , A61B1/008 , A61B5/065 , A61B34/20 , A61B90/03 , A61B2017/003 , A61B2034/107 , A61B2034/301
Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.
Abstract translation: 当可转向医疗设备在患者体内移动时，存储可转向医疗设备的路标点。 存储的路点是有序的位置序列。 位置的有序序列限定了患者内的安全路径，用于移动可转向医疗装置的可铰接部分。 可转向医疗装置的可铰接部分被限制为随着可铰接部分在患者体内移动而跟随安全路径。 例如，可转向医疗设备的可铰接部分被限制为保持在包围安全路径的边界区域内，因为可转向医疗设备的可关节部分遵循安全路径。
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公开(公告)号：US20250032195A1
公开(公告)日：2025-01-30
申请号：US18914969
申请日：2024-10-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B1/005 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/00 , G06T7/30 , G06T7/38
Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US11871898B2
公开(公告)日：2024-01-16
申请号：US17867212
申请日：2022-07-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
IPC: A61B34/10 , A61B8/12 , A61B8/00 , A61B8/08 , A61B10/04 , A61B17/00 , A61B5/06 , A61B90/00 , A61B34/20 , A61B5/00
CPC classification number: A61B8/12 , A61B8/085 , A61B8/0841 , A61B8/4263 , A61B10/04 , A61B17/00234 , A61B34/10 , A61B5/0066 , A61B5/065 , A61B8/4245 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2090/364
Abstract: A system for performing an interventional procedure includes an interventional instrument and a control system. The instrument includes a catheter and an interventional tool extendable from the catheter. The control system includes a processor and a memory comprising machine-readable instructions that cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; receive information about a maximum extension length the interventional tool can be extended relative to a distal tip of the catheter; based upon the received information about the maximum extension length, identify a planned deployment location for positioning the distal tip of the catheter to perform the interventional procedure on the target structure; determine a navigational path for the catheter to the target structure; and navigate the catheter to the identified planned deployment location via computer control or based on user input.
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公开(公告)号：US20230215007A1
公开(公告)日：2023-07-06
申请号：US18184499
申请日：2023-03-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
CPC classification number: A61B34/20 , A61B34/10 , A61B2034/2046 , A61B2034/105
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 in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position 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 and the extracted position of the portion.
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