公开(公告)号：US11571262B2

公开(公告)日：2023-02-07

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 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883

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.

公开(公告)号：US11471221B2

公开(公告)日：2022-10-18

申请号：US16859755

申请日：2020-04-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  William C. Nowlin ,  Wenyi Zhao

IPC: A61B5/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10

Abstract: A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.

公开(公告)号：US11426141B2

公开(公告)日：2022-08-30

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

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

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 intraoperative image of the target structure from a sensor system disposed at least partially within the anatomic structure, and identify, based on the intraoperative image of the target structure from the sensor system disposed at least partially within the anatomic structure indicating a different target location than the recorded target location, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.

公开(公告)号：US11423542B2

公开(公告)日：2022-08-23

申请号：US16894021

申请日：2020-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  A61B1/00 ,  G06T7/33 ,  A61B34/30 ,  A61B34/10 ,  A61B34/35 ,  A61M25/01 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

Abstract: A system includes a catheter, a display system, and a control system in communication with the catheter and the display system. The control system includes one or more processors configured for receiving a set of model points of a model of one or more passageways of a patient and receiving a first set of measured points collected from within the patient passageways. Each point includes coordinates within a surgical environment occupied by the patient. The one or more processors are also configured for generating a first registration between the set of measured points and the set of model points, generating a second registration between a second set of measured points and the set of model points, and determining, after generating the first and second registrations, whether to implement the second registration in place of the first registration.

公开(公告)号：US20220156923A1

公开(公告)日：2022-05-19

申请号：US17435833

申请日：2020-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Shiyang Chen ,  Pechin Chien Pau Lo ,  Tao Zhao

IPC: G06T7/00 ,  G06T7/10 ,  A61B90/00 ,  A61B34/00

Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

公开(公告)号：US11284952B2

公开(公告)日：2022-03-29

申请号：US16779564

申请日：2020-01-31

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 system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

公开(公告)号：US11202680B2

公开(公告)日：2021-12-21

申请号：US15752166

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B34/30 ,  A61B1/00 ,  G06T7/12 ,  G06T7/33 ,  A61B34/35 ,  A61B90/00 ,  A61B5/00 ,  A61B5/01 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08 ,  A61B34/10 ,  A61B17/00

Abstract: A method comprises segmenting first modality image data representing a model of one or more passageways within a patient; generating a first set of points based on the segmented image data; registering the first set of points to a second set of points obtained by a second modality by: determining a set of matches between the first and second sets of points, and discarding a first subset of the set of matches based on a heuristic to generate a modified set of matches by ignoring an associated set of matches between the first and second sets of points when computing a corrective motion for the second set of points—an ignored match is included in a second subset of the set of matches when computing a second corrective motion for the second set of points; and displaying a visual representation of the passageways based on the modified set of matches.

公开(公告)号：US20210369365A1

公开(公告)日：2021-12-02

申请号：US16763552

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

公开(公告)号：US20210251701A1

公开(公告)日：2021-08-19

申请号：US17307514

申请日：2021-05-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Patrick O'Grady ,  Christopher R. Burns ,  Simon P. DiMaio ,  Jason Hemphill ,  Brian D. Hoffman ,  Rodney Vance ,  Tao Zhao

IPC: A61B34/20 ,  A61B90/96 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61B34/00 ,  A61G13/00

Abstract: A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

公开(公告)号：US20210236206A1

公开(公告)日：2021-08-05

申请号：US17205173

申请日：2021-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/30 ,  G06T19/20 ,  A61B34/20

Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.