公开(公告)号：US20130204124A1

公开(公告)日：2013-08-08

申请号：US13751462

申请日：2013-01-28

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B5/06 ,  A61B17/3209

CPC classification number: A61B5/065 ,  A61B5/062 ,  A61B10/0233 ,  A61B17/3209 ,  A61B17/3403 ,  A61B17/3468 ,  A61B34/20 ,  A61B2010/045 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061

Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。

公开(公告)号：US12097000B2

公开(公告)日：2024-09-24

申请号：US18441902

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

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

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：US11871898B2

公开(公告)日：2024-01-16

申请号：US17867212

申请日：2022-07-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B8/12 ,  A61B8/085 ,  A61B8/0841 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/4245 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

Abstract: A system for performing an interventional procedure includes an interventional instrument and a control system. The instrument includes a catheter and an interventional tool extendable from the catheter. The control system includes a processor and a memory comprising machine-readable instructions that cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; receive information about a maximum extension length the interventional tool can be extended relative to a distal tip of the catheter; based upon the received information about the maximum extension length, identify a planned deployment location for positioning the distal tip of the catheter to perform the interventional procedure on the target structure; determine a navigational path for the catheter to the target structure; and navigate the catheter to the identified planned deployment location via computer control or based on user input.

公开(公告)号：US20230148897A1

公开(公告)日：2023-05-18

申请号：US18154211

申请日：2023-01-13

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

CPC classification number: A61B5/065 ,  A61B17/3209 ,  A61B10/0233 ,  A61B17/3468 ,  A61B34/20 ,  A61B5/062 ,  A61B2017/00991

Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

公开(公告)号：US11633125B2

公开(公告)日：2023-04-25

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 ,  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. 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.

公开(公告)号：US11583204B2

公开(公告)日：2023-02-21

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: A61B17/34 ,  A61B5/06 ,  A61B17/3209 ,  A61B10/02 ,  A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B10/04

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：US20200214664A1

公开(公告)日：2020-07-09

申请号：US16792697

申请日：2020-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Dorin Panescu

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

Abstract: A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

公开(公告)号：US20170181809A1

公开(公告)日：2017-06-29

申请号：US15300259

申请日：2015-03-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Daniel H. Jones

IPC: A61B90/00 ,  A61B1/04 ,  A61B5/055 ,  A61B6/03 ,  G06T19/20 ,  A61B8/00 ,  A61B34/32 ,  A61B34/35 ,  G06T7/33 ,  A61B1/00 ,  A61B6/00

CPC classification number: A61B90/37 ,  A61B1/00048 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/043 ,  A61B5/055 ,  A61B5/7425 ,  A61B6/03 ,  A61B6/032 ,  A61B6/037 ,  A61B6/466 ,  A61B8/466 ,  A61B34/32 ,  A61B34/35 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/363 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/502 ,  G06T7/33 ,  G06T19/20 ,  G06T2207/10064 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10104 ,  G06T2207/10132 ,  G06T2219/2004 ,  H04N13/232

Abstract: A method is provided to align a quantitative three-dimensional (Q3D) model of a three dimensional (3D) structure with a 3D visual representation of a sub-surface target object internal to the anatomical structure, the method comprising: identifying fiducial points within the external surface of the 3D structure represented in the 3D visual representation; identifying the same fiducial points within the Q3D model; aligning the identified fiducial points in the 3D visual representation with the identified fiducial points in the Q3D model; and producing a visual image representation of the 3D structure that includes a view of an external surface and a view of the internal sub-surface target structure.

公开(公告)号：US20140188440A1

公开(公告)日：2014-07-03

申请号：US14144232

申请日：2013-12-30

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B19/00 ,  A61B17/00 ,  A61B10/04 ,  A61B8/08 ,  A61B5/00

CPC classification number: A61B8/12 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4245 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

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.

Abstract translation: 规划展开介入器械的程序的方法包括接收解剖结构的模型。 解剖结构包括多个通道。 该方法还包括识别模型中的目标结构并且接收关于多个通道内介入器具的操作能力的信息。 该方法还包括识别用于定位介入器械的远侧尖端的计划部署位置，以基于介入器械的操作能力来执行目标结构上的过程。

公开(公告)号：US20240180645A1

公开(公告)日：2024-06-06

申请号：US18441902

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 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

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

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).