公开(公告)号：US12161434B2

公开(公告)日：2024-12-10

申请号：US18441965

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/30 ,  A61N5/10 ,  A61B34/20

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US20240390086A1

公开(公告)日：2024-11-28

申请号：US18793544

申请日：2024-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US20240081775A1

公开(公告)日：2024-03-14

申请号：US18516835

申请日：2023-11-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Dorin Panescu ,  Carol Reiley ,  Tao Zhao

IPC: A61B8/12 ,  A61B8/00 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B34/10

CPC classification number: A61B8/12 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B5/065 ,  A61B8/4245

Abstract: A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.

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：US10582909B2

公开(公告)日：2020-03-10

申请号：US16247057

申请日：2019-01-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Dorin Panescu ,  Carol Reiley ,  Tao Zhao

IPC: G06G7/48 ,  A61B8/12 ,  A61B8/00 ,  A61B34/10 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B5/06 ,  A61B90/00 ,  A61B34/20 ,  A61B5/00

Abstract: A system for planning a procedure to be performed using an interventional instrument may comprise a sensor system that generates sensor data and a control system that may receive information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure. The control system may also identify a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument. A display system may display the model of the anatomic structure having the plurality of passageways and display the plurality of optional deployment locations in the model. A code may be displayed that provides information about a relative quality of each of the plurality of optional deployment locations.

公开(公告)号：US10555788B2

公开(公告)日：2020-02-11

申请号：US15300263

申请日：2016-09-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher Allenby

IPC: A61B34/00 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D) endoscope; a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

公开(公告)号：US10368054B2

公开(公告)日：2019-07-30

申请号：US15300255

申请日：2015-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H Jones

IPC: H04N13/25 ,  A61B1/00 ,  A61B1/05 ,  A61B34/30 ,  G06T7/73 ,  H04N13/254 ,  H04N13/302 ,  H04N13/275 ,  A61B1/04 ,  A61B1/06 ,  G06T7/00 ,  G06T19/20 ,  A61B34/37 ,  H04N13/207

Abstract: A device is provided that includes an endoscope; an image sensor array is disposed to image a field of view adjacent to the endoscope, each sensor includes a pixel array that is separate from the pixel arrays of other sensors; and a light source is disposed to illuminate the field of view.

公开(公告)号：US10350009B2

公开(公告)日：2019-07-16

申请号：US15300262

申请日：2015-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H Jones

IPC: A61B34/10 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  H04N13/254 ,  A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B5/00 ,  G02B23/24 ,  G06T17/00 ,  H04N13/232 ,  A61B34/20 ,  H04N13/30

Abstract: A system to produce a replacement anatomical structure, comprising: a quantitative three-dimensional (Q3D) endoscope disposed to image a structure within a field of view that includes target tissue; at least one processor configured to: produce a first Q3D model of an anatomical structure that includes target tissue; produce a second Q3D model of the anatomical structure that includes remainder tissue in a location from which the target has been tissue removed; and produce a third Q3D model of a replacement structure based at least in part upon the first Q3D model and the second Q3D model.

公开(公告)号：US10039473B2

公开(公告)日：2018-08-07

申请号：US13892974

申请日：2013-05-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/20

Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

公开(公告)号：US20140343416A1

公开(公告)日：2014-11-20

申请号：US14278812

申请日：2014-05-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Jonathan Michael Sorger ,  Prashant Chopra ,  Tao Zhao

IPC: A61B19/00

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306 ,  A61N5/1077 ,  G06F19/00

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

Abstract translation: 一种医疗机器人系统及其操作方法包括：获取患者解剖结构的术中外部图像数据，并使用该图像数据生成用于医疗机器人系统的控制系统的建模调整（例如，更新解剖模型和/或精炼仪器 注册）和/或调整程序控制方面（例如，调节物质或治疗递送，改善靶向性和/或跟踪性能）。