公开(公告)号：US20190254752A1

公开(公告)日：2019-08-22

申请号：US16405438

申请日：2019-05-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. The computer readable instructions also cause the system to obtain a reference three-dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation, create a three-dimensional deformation field that represent the detected deformation of branched anatomical, and apply the three-dimensional deformation field to the reference three dimensional geometric model.

公开(公告)号：US20190239831A1

公开(公告)日：2019-08-08

申请号：US16258304

申请日：2019-01-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra

IPC: A61B6/12 ,  A61B1/06 ,  A61B6/00 ,  A61B5/06 ,  A61B6/02 ,  A61B1/005

CPC classification number: A61B6/12 ,  A61B1/005 ,  A61B1/0607 ,  A61B5/065 ,  A61B6/025 ,  A61B6/4057 ,  A61B6/547

Abstract: A method comprises determining a predicted pose of an elongate medical device within a patient anatomy. The method further comprises extracting a plurality of reference images from 3-D reference information, wherein the plurality of reference images includes a predicted reference image corresponding to the predicted pose of the elongate medical device. The method comprises capturing an x-ray image of the patient anatomy, wherein the captured x-ray image includes captured x-ray attenuation information. The method further comprises searching for a closest matching reference image between the captured x-ray image and one of the plurality of reference images. The method comprises determining an offset between the captured x-ray image and the closest matching reference image.

公开(公告)号：US10278615B2

公开(公告)日：2019-05-07

申请号：US13964704

申请日：2013-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/00 ,  A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/33

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.

公开(公告)号：US10154800B2

公开(公告)日：2018-12-18

申请号：US13893040

申请日：2013-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  G06T7/00 ,  A61B5/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00

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.

公开(公告)号：US20180325419A1

公开(公告)日：2018-11-15

申请号：US16025688

申请日：2018-07-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC: A61B5/06

CPC classification number: A61B5/061 ,  A61B5/065 ,  A61B5/7425 ,  A61B34/20 ,  A61B2034/2051 ,  G06F19/00

Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.

公开(公告)号：US09592095B2

公开(公告)日：2017-03-14

申请号：US14278812

申请日：2014-05-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Jonathan Michael Sorger ,  Prashant Chopra ,  Tao Zhao

IPC: A61B8/00 ,  A61B19/00 ,  A61B17/34

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306 ,  A61N5/1077 ,  G06F19/00

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).

Abstract translation: 一种医疗机器人系统及其操作方法包括：获取患者解剖结构的术中外部图像数据，并使用该图像数据生成用于医疗机器人系统的控制系统的建模调整（例如，更新解剖模型和/或精炼仪器 注册）和/或调整程序控制方面（例如，调节物质或治疗递送，改善靶向性和/或跟踪性能）。

公开(公告)号：US20250064338A1

公开(公告)日：2025-02-27

申请号：US18949201

申请日：2024-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00

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 element

公开(公告)号：US12226202B2

公开(公告)日：2025-02-18

申请号：US18405859

申请日：2024-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/05 ,  A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B34/20 ,  G06T7/33

Abstract: A system comprises a processor and a memory storing computer-readable instructions that, when executed by the processor, cause the system to: define a subregion of a model of an anatomic region, the subregion including a plurality of virtual tissue structures and corresponding to an area surrounding a tip of an image capture probe located within the anatomic region; compare a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures; based on the comparison, determine a respective similarity measure between the image and each virtual tissue structure; identify a closest matched virtual tissue structure based on the determined similarity measures; and based on identifying the closest matched virtual tissue structure, register the image to the model to determine a virtual position for the image capture probe with respect to the model.

公开(公告)号：US12171543B2

公开(公告)日：2024-12-24

申请号：US18339178

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T7/00 ,  A61B17/00 ,  A61B90/00

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: generate a plurality of linked bounded-surface elements corresponding to 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 of the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the plurality of linked bounded-surface elements; and based on the registering, display a composite image including an instrument image of the elongate instrument displayed within a model of the set of connected passageways.

公开(公告)号：US12161423B2

公开(公告)日：2024-12-10

申请号：US18465876

申请日：2023-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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.