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    Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope
    52.
    发明授权
    Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope 有权
    用于在机器人内窥镜的远端处自动维持操作者所选择的卷取向的方法和系统

    公开(公告)号：US09039608B2

    公开(公告)日：2015-05-26

    申请号：US14162449

    申请日：2014-01-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Caitlin Q. Donhowe ,  Giuseppe Maria Prisco

    IPC: A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B19/00

    CPC classification number: A61B1/0055 ,  A61B1/00147 ,  A61B1/0051 ,  A61B5/065 ,  A61B2034/2061

    Abstract: In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.

    Abstract translation: 在机器人内窥镜系统中，在机器人内窥镜的远端的被捕获的摄像机视图的方向被显示在由内窥镜的操作者可视的屏幕上被自动地保持在与设定点相关的卷取向，以便不会使 当内窥镜被移动，弯曲并且其尖端以不同的方向转动时。 处理器从操作员输入产生尖端的当前命令状态并对其进行修改以保持设定点滚动方向。 为了产生修改的电流指令状态，当前指令的滚动位置和速度被限制为根据由尖端的先前处理周期指令状态指示的滚动角度调整而修改的修改的电流指令滚动位置和速度，并且 设定点。 然后处理器命令机器人内窥镜被驱动到修改的命令状态。

    Determining Position of Medical Device in Branched Anatomical Structure
    59.
    发明申请
    Determining Position of Medical Device in Branched Anatomical Structure 有权

    公开(公告)号：US20210244311A1

    公开(公告)日：2021-08-12

    申请号：US17136550

    申请日：2020-12-29

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco

    IPC: A61B5/06 ,  G06T7/73 ,  A61B1/00 ,  A61B1/267 ,  A61B5/00 ,  A61B34/20

    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.

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