公开(公告)号：US12245833B2

公开(公告)日：2025-03-11

申请号：US18521863

申请日：2023-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/10 ,  A61B1/00 ,  A61B34/20 ,  A61B34/37 ,  G06F30/23 ,  G06T3/14 ,  G06T7/33 ,  G06T17/20

Abstract: A method includes collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient in which the measured points are based on a position of the flexible catheter in a patient space, assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways, comparing the plurality of subsets to identify an optimal subset of the plurality of subsets, and registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.

公开(公告)号：US20250057600A1

公开(公告)日：2025-02-20

申请号：US18935196

申请日：2024-11-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20250032195A1

公开(公告)日：2025-01-30

申请号：US18914969

申请日：2024-10-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/00 ,  G06T7/30 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US20240389882A1

公开(公告)日：2024-11-28

申请号：US18793090

申请日：2024-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G16Z99/00

Abstract: A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of anatomic passageways of a patient anatomy. The deformable model comprises a plurality of model passageway links connected at connection points, and each of the model passageway links includes a centerline. At each respective connection point, the corresponding passageway links include an orientation. The instructions further cause the one or more processors to modify the deformable model by modifying relative orientations of one or more model passageway links of the plurality of model passageway links. The modifying is based on one or more modeling parameters that affect a shape of the plurality of model passageway links.

公开(公告)号：US12023113B2

公开(公告)日：2024-07-02

申请号：US17575541

申请日：2022-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B34/30 ,  A61B17/24 ,  A61B34/00 ,  A61B34/20 ,  G01B11/24 ,  G01D5/353 ,  H04L9/40 ,  H04W4/80 ,  H04W12/06 ,  A61B18/00 ,  A61B18/20

CPC classification number: A61B34/30 ,  A61B17/24 ,  A61B34/20 ,  A61B34/71 ,  G01B11/24 ,  G01D5/35316 ,  H04L63/0428 ,  H04L63/08 ,  H04L63/0807 ,  H04W4/80 ,  H04W12/06 ,  H04W12/068 ,  A61B2018/00035 ,  A61B2018/2005 ,  A61B2018/202 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2562/00

Abstract: A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

公开(公告)号：US12004850B2

公开(公告)日：2024-06-11

申请号：US18475052

申请日：2023-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Carol Reiley

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/34 ,  A61B34/00 ,  A61M25/01 ,  A61B10/04 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30

CPC classification number: A61B5/066 ,  A61B5/743 ,  A61B17/34 ,  A61B34/25 ,  A61M25/01 ,  A61M25/0105 ,  A61B2010/045 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B34/30 ,  A61M2025/0166

Abstract: A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.

公开(公告)号：US11960665B2

公开(公告)日：2024-04-16

申请号：US17407634

申请日：2021-08-20

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: A61B46/10 ,  A61B1/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/0354 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61M25/01

CPC classification number: G06F3/03547 ,  A61B1/00042 ,  A61B34/25 ,  A61B34/35 ,  A61B34/74 ,  A61B46/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3735 ,  A61M25/0113

Abstract: A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

公开(公告)号：US11937880B2

公开(公告)日：2024-03-26

申请号：US16499575

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B34/37 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B34/25 ,  A61B34/35 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2074 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/301

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US11918340B2

公开(公告)日：2024-03-05

申请号：US16875747

申请日：2020-05-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam

IPC: A61B5/06 ,  A61B34/20 ,  A61M25/09 ,  A61B5/00 ,  A61B34/30 ,  A61M25/01

CPC classification number: A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61M25/09 ,  A61B5/6852 ,  A61B2034/2051 ,  A61B2034/302 ,  A61M2025/0166

Abstract: A medical system comprises a probe comprising a coil and a terminal distal end. The medical system further comprises a guide instrument comprising a terminal distal end, a sensor, and a lumen sized to receive the probe. The probe is configured to be inserted through the lumen to reach a worksite. At the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument. The medical system further comprises processing hardware configured to receive a first signal from the coil and to receive a second signal from the sensor.

公开(公告)号：US20240049980A1

公开(公告)日：2024-02-15

申请号：US18339178

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

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

CPC classification number: A61B5/066 ,  G06T7/0012 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B5/00 ,  A61B5/061 ,  A61B2034/301 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2090/365

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: receive a model of a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the model; and display a composite image including the model and an instrument image of the elongate instrument.