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    Systems and methods for registration of multiple vision systems
    21.
    发明授权
    Systems and methods for registration of multiple vision systems 有权

    公开(公告)号：US11219385B2

    公开(公告)日：2022-01-11

    申请号：US16353778

    申请日：2019-03-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Prashant Chopra

    IPC: A61B5/05 ,  A61B5/06 ,  G06T7/33 ,  A61B1/00 ,  A61B34/20

    Abstract: A medical system comprises an image capture probe having a camera at the probe tip; a sensor system; and a processor configured to: receive an image from the camera when the probe is located within an anatomic region; identify a probe tip position based on information received from the sensor system; identify a tissue structure in the image; define a subregion of a model of the anatomic region, the subregion surrounding the probe tip and including a plurality of virtual tissue structures—a first set of virtual tissue structures is distal of the probe tip; compare the tissue structure to a portion of the plurality of virtual tissue structures to identify a best matched virtual tissue structure; and register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the probe tip with respect to the model.

    Systems and methods for anatomic motion compensation
    23.
    发明授权
    Systems and methods for anatomic motion compensation 有权

    公开(公告)号：US10912523B2

    公开(公告)日：2021-02-09

    申请号：US14665650

    申请日：2015-03-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Donhowe ,  Tao Zhao ,  Timothy Soper ,  Federico Barbagli

    IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

    Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.

    Systems and methods for registration of a medical device using rapid pose search
    25.
    发明授权
    Systems and methods for registration of a medical device using rapid pose search 有权

    公开(公告)号：US10376178B2

    公开(公告)日：2019-08-13

    申请号：US13892924

    申请日：2013-05-13

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Prashant Chopra

    IPC: A61B5/06 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00

    Abstract: A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

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