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公开(公告)号：US12285223B2
公开(公告)日：2025-04-29
申请号：US18662704
申请日：2024-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.
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公开(公告)号：US12243233B2
公开(公告)日：2025-03-04
申请号：US18653066
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
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.
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公开(公告)号：US12236602B2
公开(公告)日：2025-02-25
申请号：US18652927
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
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.
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公开(公告)号：US20250017446A1
公开(公告)日：2025-01-16
申请号：US18896595
申请日：2024-09-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper
IPC: A61B1/00 , A61B1/005 , A61B1/05 , A61B1/267 , A61B5/06 , A61B10/04 , A61B34/00 , A61B34/20 , A61B34/35 , A61B34/37 , G06T7/10 , G06T7/33 , G06T19/00 , G06T19/20
Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.
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公开(公告)号：US20240293189A1
公开(公告)日：2024-09-05
申请号：US18662704
申请日：2024-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
CPC classification number: A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , G06T7/12 , G06T7/33 , G06T7/344 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.
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Patent Agency Ranking
公开(公告)号：US12011232B2
公开(公告)日：2024-06-18
申请号：US17666096
申请日：2022-02-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao , Caitlin Q. Donhowe
CPC classification number: A61B34/20 , A61B1/005 , A61B1/009 , A61B1/2676 , A61B5/064 , A61B17/00234 , A61B90/39 , A61B2017/003 , A61B2017/00809 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B34/25 , A61B2090/3614 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B90/37 , A61B2090/371 , A61B2090/3983
Abstract: A system includes a medical instrument, a teleoperation manipulator, an optical tracking sensor, and a control system. The medical instrument includes an elongated flexible body, a rigid proximal body comprising a reference portion, and a shape sensor having a reference point. The control system is configured to: track, with the optical tracking sensor, a first set of optical fiducials on a patient anatomy and a second set of optical fiducials on the reference portion; determine, using the second set of optical fiducials, a position of the reference point for a plurality of insertion measurements of a position measuring device; receive shape information from the shape sensor; and determine a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first set of optical fiducials, the position of the reference point as indicated by the position measuring device, and the shape information.
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公开(公告)号：US12004820B2
公开(公告)日：2024-06-11
申请号：US17532369
申请日：2021-11-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
CPC classification number: A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , G06T7/12 , G06T7/33 , G06T7/344 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.
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公开(公告)号：US20240090963A1
公开(公告)日：2024-03-21
申请号：US18521863
申请日：2023-11-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Timothy D. Soper , Vincent Duindam
CPC classification number: A61B34/37 , A61B1/000094 , A61B1/00147 , A61B34/10 , A61B34/20 , G06F30/23 , G06T3/0068 , G06T7/344 , G06T17/20 , A61B2034/105 , A61B2034/2065 , G06T2210/41
Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.
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公开(公告)号：US20240023902A1
公开(公告)日：2024-01-25
申请号：US18339127
申请日：2023-06-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
CPC classification number: A61B5/7425 , A61B5/062 , A61B5/065 , A61B34/20 , A61B1/00006 , A61B1/045 , A61B1/000094 , A61B2034/2061 , A61B2034/2051 , A61B2017/00699
Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
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公开(公告)号：US11636597B2
公开(公告)日：2023-04-25
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
Abstract: A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.
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