公开(公告)号：US20240277421A1

公开(公告)日：2024-08-22

申请号：US18653383

申请日：2024-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao ,  Caitlin Q. Donhowe

IPC: A61B34/20 ,  A61B1/005 ,  A61B1/267 ,  A61B5/06 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B1/005 ,  A61B1/009 ,  A61B1/2676 ,  A61B5/064 ,  A61B17/00234 ,  A61B90/39 ,  A61B2017/003 ,  A61B2017/00809 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B34/25 ,  A61B2090/3614 ,  A61B2090/363 ,  A61B2090/364 ,  A61B2090/365 ,  A61B90/37 ,  A61B2090/371 ,  A61B2090/3983

Abstract: A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.

公开(公告)号：US11992188B2

公开(公告)日：2024-05-28

申请号：US18308906

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B1/005 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/0051 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/76 ,  A61B2017/0011 ,  A61B2017/00115 ,  A61B2017/00296 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2562/0261

Abstract: A medical system includes a flexible elongate instrument and a control unit. The control unit is configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, determine a driving state of the flexible elongate instrument, set a force threshold based on the driving state, and provide feedback to an operator in response to the determined force being higher than the force threshold. Different driving states are associated with different force thresholds.

公开(公告)号：US11903777B2

公开(公告)日：2024-02-20

申请号：US16763171

申请日：2018-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Joseph A Kemp ,  Federico Barbagli ,  Joseph R. Callol ,  Vincent Duindam ,  Lucas S. Gordon ,  Randall L. Schlesinger ,  Samuel B. Schorr ,  Worth B. Walters

IPC: A61B90/70 ,  A61M25/00 ,  A61M39/22 ,  A61B17/00 ,  G01F13/00 ,  G05D7/06 ,  A61B34/20 ,  A61B34/37 ,  A61B1/12 ,  A61B1/267

CPC classification number: A61B90/70 ,  A61B17/00234 ,  A61M25/00 ,  A61M39/223 ,  G01F13/00 ,  G05D7/0623 ,  A61B1/125 ,  A61B1/2676 ,  A61B34/37 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2090/701 ,  A61B2217/005 ,  A61B2217/007 ,  A61M2025/0019 ,  A61M2205/3334 ,  A61M2205/50

Abstract: A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.

公开(公告)号：US20240041531A1

公开(公告)日：2024-02-08

申请号：US18457815

申请日：2023-08-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/032 ,  A61B6/466 ,  A61B1/000094 ,  A61B1/009 ,  A61B10/02

Abstract: A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.

公开(公告)号：US11791032B2

公开(公告)日：2023-10-17

申请号：US16802109

申请日：2020-02-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Federico Barbagli

IPC: A61B34/30 ,  G16H20/40 ,  G16H40/63 ,  G16H30/40 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00 ,  A61B17/00 ,  A61B34/00

CPC classification number: G16H20/40 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  G16H30/40 ,  G16H40/63 ,  A61B34/76 ,  A61B90/37 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/371 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3735

Abstract: A medical system comprises a medical instrument system and an assembly removably coupled to the medical instrument system. The assembly is configured to operate the medical instrument system by moving it within an anatomic passageway. The medical system also comprises a sensor system coupled to the instrument system and configured to generate information including spatial data and shape data about the instrument system. The medical system also comprises a control system communicatively coupled to the instrument system, the assembly, and the sensor system. The control system receives, from the sensor system, a first set of the spatial data including position information for a distal end of the medical instrument system during a plurality of time periods. The control system also receives the shape data from the sensor system and filters the first set of the spatial data.

公开(公告)号：US11612384B2

公开(公告)日：2023-03-28

申请号：US16307995

申请日：2017-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B1/267 ,  A61B5/06 ,  A61M25/01

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：US20220378517A1

公开(公告)日：2022-12-01

申请号：US17839340

申请日：2022-06-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/35 ,  G06T7/33 ,  B25J9/16

Abstract: A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.

公开(公告)号：US11445934B2

公开(公告)日：2022-09-20

申请号：US15329676

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/73 ,  G06T7/149 ,  G06T7/50 ,  G06T7/00

Abstract: A system comprises a medical instrument, including a sensing tool, and a processing unit configured to apply a segmentation function using a first seed to a three-dimensional image of a patient anatomy to create a model; receive position data from the instrument while navigating the patient anatomy; register a position of the instrument with the model; receive data related to the patient anatomy from the sensing tool; and update the model in response to detecting a difference between the model and the patient anatomy. Updating the model includes reapplying the segmentation function using a second seed corresponding to a passageway of the patient anatomy that is not present within the model. Detecting the difference between the model and the patient anatomy includes analyzing temporal information obtained from shape data generated by the sensing tool while the instrument traverses portions of the patient anatomy not represented by the model.

公开(公告)号：USD957413S1

公开(公告)日：2022-07-12

申请号：US29743824

申请日：2020-07-24

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Federico Barbagli ,  Ruchi C. Bhatt ,  Christopher R. Carlson ,  Energy Cruse, II ,  Vincent Duindam ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

公开(公告)号：US20220214158A1

公开(公告)日：2022-07-07

申请号：US17700370

申请日：2022-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dawn K. Gifford ,  Federico Barbagli ,  Samuel Chang ,  Anoop B. Kowshik ,  Oliver Wagner ,  Michael Paris ,  Mark Froggatt

IPC: G01B11/16 ,  G01L1/24 ,  G02B23/26 ,  A61B1/00 ,  G02B6/02 ,  G02B6/34 ,  G02B6/00

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.