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    Systems and methods for generating anatomical tree structures
    31.
    发明授权
    Systems and methods for generating anatomical tree structures 有权

    公开(公告)号：US11080902B2

    公开(公告)日：2021-08-03

    申请号：US16528493

    申请日：2019-07-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

    IPC: G06T11/20 ,  G06T7/11 ,  G06T7/143

    Abstract: A method of building an anatomical branch model comprises receiving anatomical image data comprising a plurality of graphical units associated with an anatomical structure and determining a plurality of parent segments and child segments. The method also comprises determining a set of relationships between the parent segments and the child segments by determining a first set of connection costs of connecting at least one of the parent segments to a first subset of the child segments, the child segments of the first subset are separated from the at least one of the parent segments by one or more gaps, identifying a first child segment from the first subset of the child segments based on a first connection cost, and connecting the first child segment to the at least one parent segment. The method further comprising generating an image of the anatomical branch model based on the determined set of relationships.

    CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING
    33.
    发明申请
    CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING 审中-公开

    公开(公告)号：US20200305984A1

    公开(公告)日：2020-10-01

    申请号：US16859755

    申请日：2020-04-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94

    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.

    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES
    34.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES 审中-公开

    公开(公告)号：US20200229679A1

    公开(公告)日：2020-07-23

    申请号：US16481990

    申请日：2018-01-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Federico Barbagli ,  Timothy D. Soper

    IPC: A61B1/005 ,  A61B1/04 ,  A61B1/00 ,  A61B1/267 ,  A61B34/20

    Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

    Systems and methods for interventional procedure planning
    35.
    发明授权
    Systems and methods for interventional procedure planning 有权

    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.

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