公开(公告)号：US20240252057A1

公开(公告)日：2024-08-01

申请号：US18405859

申请日：2024-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Prashant Chopra

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

CPC classification number: A61B5/066 ,  A61B1/000094 ,  A61B1/009 ,  A61B34/20 ,  G06T7/33 ,  A61B5/062 ,  A61B2034/2065 ,  G06T2207/10068 ,  G06T2207/30021

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：US20240180645A1

公开(公告)日：2024-06-06

申请号：US18441902

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

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

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).

公开(公告)号：US11723606B2

公开(公告)日：2023-08-15

申请号：US17127888

申请日：2020-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Tao Zhao ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

CPC classification number: A61B5/7425 ,  A61B1/00006 ,  A61B1/000094 ,  A61B1/045 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B5/7285 ,  A61B2017/00699 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.

公开(公告)号：US11375919B2

公开(公告)日：2022-07-05

申请号：US16193997

申请日：2018-11-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

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

Abstract: A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements.

公开(公告)号：US20220087568A1

公开(公告)日：2022-03-24

申请号：US17497391

申请日：2021-10-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher B. Allenby ,  Prashant Chopra ,  John A. Cole

IPC: A61B5/06 ,  A61B10/02 ,  A61B10/04

Abstract: A method comprises advancing a medical instrument toward a target within a patient anatomy, and the medical instrument includes a marker. The method further comprises depositing the marker at a location at or near the target along a trajectory of the medical instrument. The method further comprises sensing the marker to indicate a location of the target. The method further comprises, based on the marker, determining a second trajectory along which a treatment instrument may be advanced toward the target to treat the target. The second trajectory is different than the trajectory.

公开(公告)号：US11266327B2

公开(公告)日：2022-03-08

申请号：US16402531

申请日：2019-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

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

Abstract: A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

公开(公告)号：US20210282662A1

公开(公告)日：2021-09-16

申请号：US17240154

申请日：2021-04-26

Applicant: Intuitive Surgical Operations, Inc

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a processor and a surgical device including a tracking system disposed along a length of an elongate flexible body. The processor may receive a first model of anatomic passageways of a patient anatomy. The first model may include a set of model passageways representing proximal and distal branches. The processor may also receive from the tracking system a shape of the elongate flexible body positioned within the proximal and distal branches. The processor may also determine, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal and distal branches. The processor may also generate a second model by deforming the first model based on the set of forces and display the second model and a representation of the elongate flexible body within the second model.

公开(公告)号：US11026594B2

公开(公告)日：2021-06-08

申请号：US16114456

申请日：2018-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/05 ,  A61B5/06 ,  A61B5/00 ,  A61B34/30 ,  G06F19/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

Abstract: A medical system comprises a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device. The system further comprises a memory storing anatomical data describing a patient anatomy and comprises a processor configured for: generating a first model, including a set of anatomical passageways including a proximal branch connected to a distal branch, from the stored anatomical data; determining a shape of the elongate body positioned within the proximal and distal branches; computing, based on the determined shape, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the proximal and distal branches; deforming the first model into a second model of the set of anatomical passageways by adjusting a joint between branches in the anatomical passageways in the first model based on the total set of forces, to thereby change a pose of a branch through which the surgical device extends and an additional branch through which the surgical device does not extend; and displaying a representation of the second model and a representation of the surgical device as positioned within the second model.

公开(公告)号：US20200078095A1

公开(公告)日：2020-03-12

申请号：US16681003

申请日：2019-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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 obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. 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 and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US20190209043A1

公开(公告)日：2019-07-11

申请号：US16353778

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Prashant Chopra

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

CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B5/062 ,  A61B34/20 ,  A61B2034/2065 ,  G06T7/33 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A medical system comprises an image capture probe having a camera at its tip, a sensor system, and a processor. The processor is configured to receive an image from the camera when the image capture probe is located within an anatomic region of a patient anatomy; identify the tip's position based on information received from the sensor system; identify a tissue structure in the image; and define a subregion of a model of the anatomic region that corresponds to an area surrounding the tip. The processor is configured to compare the tissue structure to at least a portion of virtual tissue structures in the subregion to identify a best matched virtual tissue structure. The processor is configured to register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip with respect to the model.