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公开(公告)号：US20140051986A1
公开(公告)日：2014-02-20
申请号：US13964704
申请日：2013-08-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Prashant Chopra
IPC: A61B5/06
CPC classification number: A61B5/066 , A61B1/00009 , A61B5/062 , A61B34/20 , A61B2034/2065 , G06T7/33 , G06T2207/10068 , G06T2207/30021
Abstract: A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.
Abstract translation: 一种方法包括生成解剖区域的模型并从位于解剖区域内的内窥镜图像捕获探针接收真实图像。 该方法还包括识别真实图像中的真实基准区域并且识别解剖区域的模型中的多个虚拟组织结构。 该方法还包括将多个虚拟组织结构中的一个与真实基准区域进行匹配，并从多个虚拟组织结构中匹配的一个虚拟组织结构确定内窥镜图像捕获探针的探测姿势。
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32.发明申请Systems and Methods for Registration of a Medical Device Using a Reduced Search Space 审中-公开使用缩小搜索空间注册医疗设备的系统和方法公开(公告)号：US20130303894A1
公开(公告)日：2013-11-14
申请号：US13893040
申请日：2013-05-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Prashant Chopra
IPC: A61B5/06
CPC classification number: A61B5/066 , A61B5/00 , A61B5/061 , A61B5/065 , A61B34/10 , A61B34/20 , A61B34/30 , A61B2017/00809 , A61B2034/108 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/365 , G06T7/0012
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.
Abstract translation: 一种方法包括识别患者解剖结构的存储图像中的连接的解剖结构，并且生成表示所连接的解剖结构的多个圆柱形连杆元件。 该方法还包括接收对应于定位在所连接的解剖结构中的至少一个中的仪器上的点的跟踪数据; 并将仪器上的点与多个圆柱形联动元件中的一个相匹配。
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公开(公告)号：US20250057613A1
公开(公告)日：2025-02-20
申请号：US18935057
申请日：2024-11-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
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).
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公开(公告)号：US12082920B2
公开(公告)日：2024-09-10
申请号：US18311031
申请日：2023-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Prashant Chopra , Tao Zhao
CPC classification number: A61B5/066 , A61B5/0044 , A61B5/062 , A61B5/065 , A61B34/30 , G16Z99/00 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2505/05 , A61B2562/043
Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.
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35.发明公开公开(公告)号：US20240065769A1
公开(公告)日：2024-02-29
申请号：US18465876
申请日：2023-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , G06T19/20 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T2210/41 , G06T2219/2021
Abstract: A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.
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Patent Agency Ranking
公开(公告)号：US20230380716A1
公开(公告)日：2023-11-30
申请号：US18311031
申请日：2023-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Prashant Chopra , Tao Zhao
CPC classification number: A61B5/066 , A61B5/0044 , A61B34/30 , A61B5/062 , A61B5/065 , G16Z99/00 , A61B2017/00699
Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.
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公开(公告)号：US20230372039A1
公开(公告)日：2023-11-23
申请号：US18306908
申请日：2023-04-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
CPC classification number: A61B34/32 , A61B17/3478 , A61B34/30 , A61B34/10 , A61B17/00234 , A61N5/1077 , A61B2034/302 , A61B2034/306 , A61B2034/105 , A61B2034/107 , A61B2034/2065
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).
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公开(公告)号：US11666397B2
公开(公告)日：2023-06-06
申请号：US17075163
申请日：2020-10-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
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 system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.
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公开(公告)号：US20220346751A1
公开(公告)日：2022-11-03
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
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.
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公开(公告)号：US20200155116A1
公开(公告)日：2020-05-21
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
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 operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.
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