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.

公开(公告)号：US11937880B2

公开(公告)日：2024-03-26

申请号：US16499575

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B34/37 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B34/25 ,  A61B34/35 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2074 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/301

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US20230285081A1

公开(公告)日：2023-09-14

申请号：US18041337

申请日：2021-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Oliver J. Wagner ,  Tao Zhao ,  Federico Barbagli ,  Christopher R. Carlson

IPC: A61B34/10 ,  G06T7/11

CPC classification number: A61B34/10 ,  G06T7/11 ,  A61B2034/105 ,  G06T2207/20081 ,  G06T2207/30004

Abstract: Disclosed herein are devices, systems, methods, and computer program products for planning and performing medical procedures. In some embodiments, a system for planning a medical procedure includes a processor and a memory operably coupled to the processor. The memory can store instructions that, when executed by the processor, cause the system to perform operations including: receiving image data of an anatomic region including a plurality of lymph nodes and a target lesion; generating a three-dimensional model of the anatomic region by segmenting the image data; selecting a subset of the lymph nodes to be biopsied during the medical procedure based at least in part on a location of the target lesion in the three-dimensional model; and determining a sequence for navigating a biopsy device to locations of the subset of the lymph nodes during the medical procedure.

公开(公告)号：US20230000354A1

公开(公告)日：2023-01-05

申请号：US17894849

申请日：2022-08-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： FEDERICO BARBAGLI ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B34/37 ,  A61B10/04

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

公开(公告)号：US11464411B2

公开(公告)日：2022-10-11

申请号：US16491023

申请日：2018-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B34/37 ,  A61B10/04 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61M25/01

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, determine a distance between the elongate instrument and the profiled tissue.

公开(公告)号：US20210186556A1

公开(公告)日：2021-06-24

申请号：US17177932

申请日：2021-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher R. Carlson ,  Federico Barbagli ,  Randall L. Schlesinger

IPC: A61B17/34 ,  A61B10/02 ,  A61B10/04 ,  A61B5/06

Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instillment at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

公开(公告)号：USD892818S1

公开(公告)日：2020-08-11

申请号：US29653032

申请日：2018-06-12

Applicant: Intuitive Surgical Operations, Inc.

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

公开(公告)号：US20200054399A1

公开(公告)日：2020-02-20

申请号：US16499575

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL. OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tiniing ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/37

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US20170303824A1

公开(公告)日：2017-10-26

申请号：US15518385

申请日：2015-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B5/107 ,  A61B1/018 ,  A61B1/00 ,  A61B1/06 ,  A61B1/04 ,  G02B6/02 ,  A61B1/005 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B1/00096 ,  A61B1/00078 ,  A61B1/0051 ,  A61B1/0055 ,  A61B1/018 ,  A61B2034/2061

Abstract: An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.

公开(公告)号：US12161306B2

公开(公告)日：2024-12-10

申请号：US16484047

申请日：2018-02-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Christopher R. Carlson

IPC: A61B10/02 ,  A61B5/00 ,  A61B5/02 ,  A61B10/04 ,  A61B17/12 ,  A61B18/14 ,  A61B34/20 ,  A61B1/267 ,  A61B17/00 ,  A61B18/00 ,  A61B90/00

Abstract: A medical system includes an outer catheter comprising one or more first lumens, a sealing device coupled to the outer catheter, an inner instrument configured to be slideably deployed through one of the one or more first lumens and comprising one or more first sensors configured to detect one or more anatomical features below a surface of the anatomic passageway, one or more second sensors, and a processor. The processor is configured to detect bleeding into the anatomic passageway from outside the anatomic passageway using the one or more second sensors and disable advancement of the inner instrument when the one or more first sensors detect the one or more anatomical features. The one or more second sensors are configured to be positioned distal to the sealing device and mounted on the inner instrument near a distal end of the inner instrument.