公开(公告)号：US20210100627A1

公开(公告)日：2021-04-08

申请号：US17044354

申请日：2019-04-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Troy K. Adebar ,  Christopher R. Carlson ,  Vincent Duindam ,  Teresa G. Gadda ,  Oliver J. Wagner ,  Benjamin G. Cohn

IPC: A61B34/20 ,  A61B10/02 ,  A61B18/14 ,  A61B18/02 ,  A61M5/32 ,  A61B1/00 ,  A61B8/12 ,  A61B8/00 ,  A61M25/00 ,  A61B17/34 ,  G06T7/00 ,  G06T7/73

Abstract: A medical system includes a catheter and a processor. The catheter includes a first channel and a distal end portion associated with a catheter frame of reference. The processor is configured to receive a first image captured by a first imaging device provided by the catheter within a patient anatomy, and receive a second image of the patient anatomy captured by a second imaging device from outside the patient anatomy. The second image includes the catheter and the first imaging device. The processor is further configured to determine a relative pose between the first imaging device and the distal end of the catheter based on the second image, determine a target location associated with a target structure in the first image, and transform the target location in an image frame of reference associated with the first image to the catheter frame of reference based on the relative pose.

公开(公告)号：US20210073989A1

公开(公告)日：2021-03-11

申请号：US16950980

申请日：2020-11-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Michael D. Paris ,  Timothy D. Soper ,  Oliver J. Wagner

IPC: G06T7/00 ,  A61B34/20 ,  A61B6/12 ,  A61B6/00 ,  G06T11/00

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

公开(公告)号：US20200289023A1

公开(公告)日：2020-09-17

申请号：US16837159

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Simon P. DiMaio ,  David Q. Larkin ,  Dorin Panescu ,  Giuseppe Maria Prisco

IPC: A61B5/06 ,  A61B17/3209 ,  A61B10/02 ,  A61B17/34 ,  A61B34/20

Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

公开(公告)号：US10772485B2

公开(公告)日：2020-09-15

申请号：US16509177

申请日：2019-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B34/20

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor 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. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

公开(公告)号：US20200078104A1

公开(公告)日：2020-03-12

申请号：US16314317

申请日：2017-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： David W. Bailey ,  Federico Barbagli ,  Reuben D. Brewer ,  Christopher R. Carlson ,  Vincent Duindam ,  Tania K. Morimoto ,  Michael D. Paris ,  Oliver J. Wagner

IPC: A61B34/00 ,  A61B46/10 ,  A61B34/35

Abstract: Systems and methods for controlling an elongate device include an input control console. The console includes a first input control having an infinite length of travel in a first direction, a second input control having an infinite length of travel in more than one direction, one or more transceivers for coupling the console to a control unit for the elongate device, and interface circuits for coupling the first input control and the second input control to the one or more transceivers. The first input control provides a first command suitable for controlling an insertion depth of the elongate device. The second input control provides second commands suitable for controlling steering of a distal end of the elongate device. In some embodiments, the console includes raised rings or bezels within which the input controls are mounted. In some embodiments, pockets of a drape are anchored to the raised rings or bezels.

公开(公告)号：US20190254752A1

公开(公告)日：2019-08-22

申请号：US16405438

申请日：2019-05-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field to the reference three dimensional geometric model.

公开(公告)号：US10264978B2

公开(公告)日：2019-04-23

申请号：US15783967

申请日：2017-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. Herzlinger ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B6/00 ,  A61B5/00 ,  A61B1/267 ,  A61B1/00 ,  A61B1/06 ,  A61B5/08

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.

公开(公告)号：US10206747B2

公开(公告)日：2019-02-19

申请号：US14276153

申请日：2014-05-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B5/00 ,  A61B19/00 ,  A61B34/30 ,  A61B34/00 ,  A61B17/00

Abstract: An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.

公开(公告)号：US10154800B2

公开(公告)日：2018-12-18

申请号：US13893040

申请日：2013-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  G06T7/00 ,  A61B5/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00

Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.

公开(公告)号：US20180325419A1

公开(公告)日：2018-11-15

申请号：US16025688

申请日：2018-07-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/06

CPC classification number: A61B5/061 ,  A61B5/065 ,  A61B5/7425 ,  A61B34/20 ,  A61B2034/2051 ,  G06F19/00

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. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.