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公开(公告)号：US10896506B2
公开(公告)日：2021-01-19
申请号：US16076290
申请日：2017-02-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.
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公开(公告)号：US10706543B2
公开(公告)日：2020-07-07
申请号：US15752154
申请日：2016-08-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: G06T7/00 , A61B1/00 , G06T7/33 , A61B34/30 , A61B34/10 , A61B34/35 , A61M25/01 , A61B17/00 , A61B90/00 , A61B34/20
Abstract: A method includes accessing a set of model points of a model of one or more passageways of a patient; detecting a point collection condition in image data obtained from an image-capture device of a catheter based upon machine vision; automatically initiating collection of a set of measured points based on detection of the point collection condition in the image data obtained from the image-capture device; performing a point set registration algorithm using the set of model points of the model of one or more passageways of the patient and the set of measured points to produce a registered set of model points; and displaying a visual representation of the registered set of model points in a user interface provided by a display system.
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公开(公告)号：US10314513B2
公开(公告)日：2019-06-11
申请号：US14879291
申请日：2015-10-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Caitlin Q. Donhowe , Randall L. Schlesinger
Abstract: An apparatus comprises an instrument including an elongated, flexible body and a shape sensor including an optical fiber extending at least partially along the elongated, flexible body. The apparatus also includes a radiopaque material incorporated with the optical fiber along an entire length of the optical fiber. The radiopaque material is incorporated such that the optical fiber is radiographically distinguishable from a remainder of the elongated, flexible body.
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54.发明申请公开(公告)号：US20190038365A1
公开(公告)日：2019-02-07
申请号：US16076409
申请日：2017-02-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC
Inventor： Timothy D. Soper , Federico Barbagli , Caitlin Q. Donhowe , Vicent Duindam , Michael D. Paris , Oliver Wagner , Tao Zhao
Abstract: A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.
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55.发明授权公开(公告)号：US09913572B2
公开(公告)日：2018-03-13
申请号：US15364509
申请日：2016-11-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Amir Belson , Kristoffer J. Donhowe , Kenneth R. Krieg , Eric M. Storne , Thomas J. Yorkey , Jun Zhang
IPC: A61B1/00 , A61B1/04 , A61B1/005 , A61B34/20 , A61B1/008 , A61B5/06 , A61B17/00 , A61B90/00 , A61B34/10 , A61B34/30
CPC classification number: A61B1/0051 , A61B1/00006 , A61B1/00009 , A61B1/00147 , A61B1/008 , A61B5/065 , A61B34/20 , A61B90/03 , A61B2017/003 , A61B2034/107 , A61B2034/301
Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.
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Patent Agency Ranking
公开(公告)号：US20170347912A1
公开(公告)日：2017-12-07
申请号：US15627099
申请日：2017-06-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Anoop B. Kowshik , Caitlin Q. Donhowe , Vincent Duindam , Carolyn M. Fenech
CPC classification number: A61B5/06 , A61B5/065 , A61B34/20 , A61B34/30 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , A61M25/0147 , A61M2025/0166
Abstract: A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature. The first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature.
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公开(公告)号：US20170209071A1
公开(公告)日：2017-07-27
申请号：US15329676
申请日：2015-07-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Vincent Duindam , Caitlin Q. Donhowe , Timothy D. Soper , Federico Barbagli
CPC classification number: A61B5/06 , A61B1/00006 , A61B1/00147 , A61B5/065 , A61B5/066 , A61B34/20 , A61B2034/2051 , G06T7/149 , G06T7/75 , G06T2207/10016 , G06T2207/10068 , G06T2207/30061
Abstract: A method comprises navigating a patient's anatomy with a medical instrument, the instrument comprising a sensing tool. The method further includes correlating a position of the instrument with a model of the patient's anatomy. The method further includes, while navigating the patient's anatomy, updating the model based on data obtained by the sensing tool.
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58.发明申请METHOD AND SYSTEM FOR DETERMINING A SHAPE OF A LUMEN IN AN ANATOMICAL STRUCTURE 审中-公开用于确定解剖结构中的光的形状的方法和系统公开(公告)号：US20150148690A1
公开(公告)日：2015-05-28
申请号：US14531016
申请日：2014-11-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
CPC classification number: A61B5/0084 , A61B1/00009 , A61B1/00055 , A61B1/0051 , A61B1/2676 , A61B5/0037 , A61B5/02007 , A61B5/02028 , A61B5/08 , A61B5/20 , A61B5/4064 , A61B5/42 , A61B5/6852 , A61B5/7475 , A61B34/20 , A61B2017/00323 , A61B2017/00699 , A61B2017/00703 , A61B2034/107 , A61B2034/2061 , A61B2090/3614 , A61B2090/367 , A61B2576/023 , A61B2576/026 , G06T7/75 , G06T19/003 , G06T2207/10068
Abstract: A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.
Abstract translation: 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。
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公开(公告)号：US12285223B2
公开(公告)日：2025-04-29
申请号：US18662704
申请日：2024-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.
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公开(公告)号：US12243233B2
公开(公告)日：2025-03-04
申请号：US18653066
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.
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