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公开(公告)号：US11514591B2
公开(公告)日：2022-11-29
申请号：US17051227
申请日：2019-05-07
发明人： Timothy D. Soper , Vincent Duindam
摘要： A system is configured to perform operations includes accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space. A set of measured points of the anatomic structure of the patient are collected, the measured points being associated with a patient space. The set of model points are registered to the set of measured points using a first set of initial parameters to generate a first transformation. One or more sets of perturbed initial parameters are generated based on the first set of initial parameters. One or more perturbed registration processes are performed to register the set of model points to the set of measured points using the one or more sets of perturbed initial parameters respectively to generate corresponding perturbed transformations. A registration quality indicator is generated based on the first transformation and the one or more perturbed transformations.
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52.发明授权公开(公告)号：US11376075B2
公开(公告)日：2022-07-05
申请号：US17205173
申请日：2021-03-18
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.
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公开(公告)号：US11351000B2
公开(公告)日：2022-06-07
申请号：US15329899
申请日：2015-07-17
IPC分类号： A61B34/35 , A61B34/30 , A61B34/20 , A61B34/00 , A61B34/37 , A61B17/00 , A61B34/10 , A61B90/50 , A61B90/00
摘要： A method of deploying an interventional instrument comprises identifying a target structure within a patient anatomy in an anatomic frame of reference. The method further comprises determining a target region representing a location of the target structure in the the anatomic frame of reference with respect to a current location of the interventional instrument and recording a first engagement location of the interventional instrument within the target. Determining the target region includes determining a probabilistic distribution of the location of the target structure relative to the current location of the interventional instrument and associating each of the plurality of target points with a probability of engaging the target structure.
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公开(公告)号：US20220151508A1
公开(公告)日：2022-05-19
申请号：US17590667
申请日：2022-02-01
发明人： Vincent Duindam , Prashant Chopra
摘要： 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.
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公开(公告)号：US11284950B2
公开(公告)日：2022-03-29
申请号：US16242577
申请日：2019-01-08
摘要： A guiding apparatus comprises a support assembly extending along a longitudinal axis and including a first plurality of linkages and a second plurality of linkages. The first plurality of linkages includes a first channel formation and the second plurality of linkages includes a second channel formation. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an opening sized to receive an elongated flexible instrument.
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公开(公告)号：US20220071715A1
公开(公告)日：2022-03-10
申请号：US17532369
申请日：2021-11-22
IPC分类号： A61B34/20 , A61B34/30 , A61B1/00 , G06T7/12 , G06T7/33 , A61B34/35 , A61B90/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08
摘要： A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.
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公开(公告)号：US20210307837A1
公开(公告)日：2021-10-07
申请号：US17353322
申请日：2021-06-21
发明人： Timothy D. Soper , Vincent Duindam
摘要： 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.
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公开(公告)号：US20210177299A1
公开(公告)日：2021-06-17
申请号：US17100516
申请日：2020-11-20
摘要： Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.
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59.发明授权公开(公告)号：US10966790B2
公开(公告)日：2021-04-06
申请号：US16681003
申请日：2019-11-12
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
摘要： 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.
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公开(公告)号：US10744303B2
公开(公告)日：2020-08-18
申请号：US16283039
申请日：2019-02-22
摘要： A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.
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