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    THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA
    43.
    发明申请
    THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA 审中-公开
    三维目标设备，组装和校准内窥镜相机的方法

    公开(公告)号：US20150150435A1

    公开(公告)日：2015-06-04

    申请号：US14563558

    申请日：2014-12-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tyler J. Morrissette ,  Tao Zhao ,  Joseph P. Orban, III ,  Brian David Hoffman

    IPC: A61B1/00

    CPC classification number: A61B1/00057 ,  A61B1/00193

    Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

    Abstract translation: 本公开涉及用于诸如立体内窥镜的成像系统的校准目标装置，组件和方法。 校准组件包括：目标表面在三维上延伸有校准标记和具有接合内窥镜的界面的主体，使得标记在视野内。 第一校准标记沿着目标表面的第一平面延伸，并且第二标记沿着目标表面的第二平面延伸。 相对于通过内窥镜观察的视野，平面是不同的和不对称的。 特别地，三维目标使得能够使用单个图像（或立体内窥镜的一对图像）进行内窥镜校准，以减少校准过程的复杂性，校准时间和错误的机会以及允许在不同焦点的相机的有效校准 职位

    DETERMINING POSITION OF MEDICAL DEVICE IN BRANCHED ANATOMICAL STRUCTURE
    47.
    发明申请
    DETERMINING POSITION OF MEDICAL DEVICE IN BRANCHED ANATOMICAL STRUCTURE 审中-公开
    确定分支解剖结构中医疗器械的位置

    公开(公告)号：US20140180063A1

    公开(公告)日：2014-06-26

    申请号：US14048331

    申请日：2013-10-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco

    IPC: A61B5/06

    CPC classification number: A61B5/066 ,  A61B1/0005 ,  A61B1/2676 ,  A61B5/0059 ,  A61B5/064 ,  A61B6/12 ,  A61B6/5247 ,  A61B8/0841 ,  A61B8/5261 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/365 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30004

    Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

    Abstract translation: 从从解剖结构移动的医疗装置的远端的角度拍摄的连续图像提取的信息与从解剖结构的计算机模型提取的相应信息进行比较。 然后使用与一组潜在匹配相关联的概率来确定从顺序图像提取的信息和从计算机模型提取的对应信息之间的最可能匹配，以将解剖结构的计算机模型注册到医疗装置，从而 确定医疗设备当前处于解剖结构的内腔。传感器信息可用于限制潜在匹配的集合。 与图像序列和潜在匹配集相关联的特征属性可以作为确定最可能匹配的一部分进行定量比较。

    Systems and methods for connecting segmented structures
    48.
    发明授权
    Systems and methods for connecting segmented structures 有权

    公开(公告)号：US12299873B2

    公开(公告)日：2025-05-13

    申请号：US17435833

    申请日：2020-03-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Shiyang Chen ,  Pechin Chien Pau Lo ,  Tao Zhao

    IPC: G06T7/00 ,  A61B34/00 ,  A61B90/00 ,  G06T7/10

    Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES
    50.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES 有权

    公开(公告)号：US20240407860A1

    公开(公告)日：2024-12-12

    申请号：US18812551

    申请日：2024-08-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao

    IPC: A61B34/20 ,  A61B1/00 ,  A61B1/267 ,  A61B34/35

    Abstract: Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.

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