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    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES
    41.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES 有权

    公开(公告)号：US20230061771A1

    公开(公告)日：2023-03-02

    申请号：US17968235

    申请日：2022-10-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： TAO ZHAO ,  Federico Barbagli ,  Timothy D. Soper

    IPC: A61B1/00 ,  A61B34/20 ,  A61B1/005 ,  A61B1/04 ,  A61B1/267

    Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

    SYSTEMS AND METHODS FOR REGISTRATION OF PATIENT ANATOMY
    44.
    发明申请
    SYSTEMS AND METHODS FOR REGISTRATION OF PATIENT ANATOMY 有权

    公开(公告)号：US20220054202A1

    公开(公告)日：2022-02-24

    申请号：US17432727

    申请日：2020-02-24

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Timothy D. Soper ,  Vincent Duindam

    IPC: A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B1/005 ,  A61B1/00

    Abstract: A system may comprise a medical instrument, a tracking subsystem configured to receive position data from the medical instrument, and a control system communicatively coupled to the medical instrument and the tracking subsystem. The control system may be configured to perform operations including accessing a model of an anatomic structure of a patient and receiving an indication that the medical instrument has been delivered to a known anatomical landmark. The operations may also include collecting a plurality of measurement points of the anatomic structure along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path. The operations may also include determining a location of the medical instrument relative to the anatomic structure and registering the collected plurality of measurement points to the model of the anatomic structure.

    Systems and methods of continuous registration for image-guided surgery
    47.
    发明授权
    Systems and methods of continuous registration for image-guided surgery 有权

    公开(公告)号：US11065059B2

    公开(公告)日：2021-07-20

    申请号：US16343093

    申请日：2017-10-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Timothy D. Soper ,  Vincent Duindam

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

    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.

    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES
    48.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES 审中-公开

    公开(公告)号：US20200229679A1

    公开(公告)日：2020-07-23

    申请号：US16481990

    申请日：2018-01-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Tao Zhao ,  Federico Barbagli ,  Timothy D. Soper

    IPC: A61B1/005 ,  A61B1/04 ,  A61B1/00 ,  A61B1/267 ,  A61B34/20

    Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

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