公开(公告)号：US12121204B2

公开(公告)日：2024-10-22

申请号：US18179874

申请日：2023-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/267 ,  A61B5/06 ,  A61B10/04 ,  A61B34/00 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  G06T7/33 ,  G06T19/00 ,  G06T19/20

CPC classification number: A61B1/0005 ,  A61B1/005 ,  A61B1/009 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B10/04 ,  A61B34/20 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  G06T7/33 ,  G06T7/337 ,  G06T7/344 ,  G06T19/00 ,  G06T19/006 ,  G06T19/20 ,  A61B2034/2051 ,  A61B2034/2061 ,  G06T2207/10068 ,  G06T2207/30061

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US20240268636A1

公开(公告)日：2024-08-15

申请号：US18630866

申请日：2024-04-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B5/00 ,  A61B5/06 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B1/00149 ,  A61B1/00006 ,  A61B1/00057 ,  A61B1/0016 ,  A61B1/009 ,  A61B1/01 ,  A61B5/065 ,  A61B5/6852 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762

Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

公开(公告)号：US20240024038A1

公开(公告)日：2024-01-25

申请号：US18365710

申请日：2023-08-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  G06T7/0012 ,  G06T7/30 ,  A61B1/009 ,  A61B34/10 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US11864856B2

公开(公告)日：2024-01-09

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/10 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B1/000094 ,  A61B1/00147 ,  A61B34/10 ,  A61B34/20 ,  G06F30/23 ,  G06T3/0068 ,  G06T7/344 ,  G06T17/20 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

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.

公开(公告)号：US11779396B2

公开(公告)日：2023-10-10

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  A61B1/00 ,  A61B1/005 ,  A61B10/02

CPC classification number: A61B34/10 ,  A61B1/009 ,  A61B1/000094 ,  A61B6/032 ,  A61B6/466 ,  G06T7/11 ,  G06T7/30 ,  A61B1/005 ,  A61B10/02

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

公开(公告)号：US20230200790A1

公开(公告)日：2023-06-29

申请号：US18171590

申请日：2023-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00

CPC classification number: A61B10/04 ,  A61B34/25 ,  A61B90/37 ,  A61B1/000094 ,  A61B2090/378 ,  A61B34/35

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

公开(公告)号：US20230157769A1

公开(公告)日：2023-05-25

申请号：US18159568

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B2034/301

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US20230149108A1

公开(公告)日：2023-05-18

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/344 ,  G06F30/23 ,  G06T3/0068 ,  G06T17/20 ,  A61B1/000094 ,  A61B1/00147 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

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.

公开(公告)号：US11628013B2

公开(公告)日：2023-04-18

申请号：US16327219

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00

Abstract: A method of monitoring a medical instrument during a medical procedure includes: receiving state information from a control system in communication with the medical instrument; detecting, by the control system, motion of at least a portion of the medical instrument; comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value based on the state information received from the control system; determining, based on the detected motion exceeding the threshold motion value, significant movement of a patient has occurred; providing a system response based on determining significant movement of the patient has occurred; comparing the detected motion with a threshold control value, wherein the threshold control value is higher than the threshold motion value; and disregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.

公开(公告)号：US11583353B2

公开(公告)日：2023-02-21

申请号：US17353322

申请日：2021-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/10 ,  A61B34/20 ,  G06T3/00 ,  A61B34/37 ,  G06T7/33 ,  G06F30/23 ,  G06T17/20 ,  A61B1/00

Abstract: A method of continuously registering a model of anatomic passageways to a patient space includes: collecting a set of measured points along a flexible catheter as the catheter is inserted into the passageways, the measured points based on a shape of the catheter; assigning each measured point to a respective subset of a plurality of subsets based upon a depth of each measured point within the passageways; comparing the plurality of subsets to identify a first optimal subset; registering the model to the patient space based on a set of model points and the first optimal subset; collecting additional measured points; updating the plurality of subsets by assigning each additional measured point to a respective subset; comparing, after the updating, the plurality of subsets to identify a second optimal subset; and registering the model to the patient space based on the set of model points and the second optimal subset.