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    CATHETER SENSOR SYSTEMS
    42.
    发明申请
    CATHETER SENSOR SYSTEMS 审中-公开

    公开(公告)号：US20200146757A1

    公开(公告)日：2020-05-14

    申请号：US16735396

    申请日：2020-01-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Carolyn M. Fenech ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC: A61B34/20 ,  A61M25/01 ,  A61B5/06 ,  A61B34/10

    Abstract: A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube.

    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL
    45.
    发明申请
    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL 审中-公开

    公开(公告)号：US20180014895A1

    公开(公告)日：2018-01-18

    申请号：US15719275

    申请日：2017-09-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

    IPC: B25J9/16

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

    Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

    Catheter Sensor Systems
    48.
    发明申请
    Catheter Sensor Systems 审中-公开
    导管传感器系统

    公开(公告)号：US20160302873A1

    公开(公告)日：2016-10-20

    申请号：US15193524

    申请日：2016-06-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC: A61B34/20 ,  A61M25/01 ,  A61B5/06

    CPC classification number: A61B34/20 ,  A61B5/062 ,  A61B34/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/302 ,  A61M25/0127 ,  A61M25/0147

    Abstract: A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first section. The first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor. The system also includes a third electromagnetic sensor positioned on the imaging probe and a fiber shape sensor system that extends through the first section between the proximal and distal ends and along the first electromagnetic sensor and the second electromagnetic sensor.

    Abstract translation: 医疗系统包括具有延伸穿过第一和第二部分的第一部分，第二部分和主管腔的导管。 该系统还包括尺寸适于延伸穿过导管的主腔的成像探针。 该系统还包括沿着第一部分的近端处的纵向传感器轴线延伸的第一电磁传感器和在第一部分的远端沿着纵向传感器轴线延伸的第二电磁传感器。 近端和远端之间的第一部分柔性地联接第一和第二电磁传感器，使得第一电磁传感器可相对于第二电磁传感器移动。 该系统还包括位于成像探针上的第三电磁传感器和在近端和远端之间以及沿第一电磁传感器和第二电磁传感器延伸穿过第一部分的纤维形状传感器系统。

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