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公开(公告)号：US20180153621A1
公开(公告)日：2018-06-07
申请号：US15574545
申请日：2016-05-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper
IPC: A61B34/20 , A61B34/37 , A61B10/04 , A61B1/05 , A61B34/00 , A61B1/267 , A61B34/35 , G06T7/33 , G06T7/10 , G06T19/00
CPC classification number: A61B34/20 , A61B1/0005 , A61B1/005 , A61B1/05 , A61B1/2676 , A61B5/06 , A61B10/04 , A61B34/25 , A61B34/35 , A61B34/37 , A61B2034/2051 , A61B2034/2061 , G06T7/10 , G06T7/33 , G06T7/344 , G06T19/00 , G06T19/006 , G06T19/20 , 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.
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公开(公告)号：US20180078318A1
公开(公告)日：2018-03-22
申请号：US15564509
申请日：2016-04-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
CPC classification number: A61B34/20 , A61B1/00147 , A61B1/01 , A61B1/2676 , A61B34/10 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/207 , A61B2034/301 , A61B2090/365 , A61B2090/3945 , A61B2090/397
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.
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公开(公告)号：US20150265368A1
公开(公告)日：2015-09-24
申请号：US14665650
申请日：2015-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Donhowe , Tao Zhao , Timothy Soper , Federico Barbagli
CPC classification number: A61B5/7425 , A61B1/00006 , A61B1/00009 , A61B1/00165 , A61B1/00193 , A61B1/045 , A61B1/05 , A61B1/2676 , A61B5/06 , A61B5/062 , A61B5/065 , A61B5/7285 , A61B34/20 , A61B2017/00699 , A61B2034/2051 , A61B2034/2061
Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
Abstract translation: 对循环解剖运动进行建模的方法包括接收用于多个时间参数的循环移动的患者解剖结构中保持在内部并且以柔顺运动的介入仪器上的识别点的姿态数据集。 所述方法还包括针对所述多个时间参数中的每个时间参数处的参考点确定所识别的点的一组姿态差异，以及从所述一组姿态差异识别用于所述循环解剖运动的周期性信号。
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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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公开(公告)号：US12236602B2
公开(公告)日：2025-02-25
申请号：US18652927
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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Patent Agency Ranking
公开(公告)号：US20250017446A1
公开(公告)日：2025-01-16
申请号：US18896595
申请日：2024-09-25
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
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.
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公开(公告)号：US12171505B2
公开(公告)日：2024-12-24
申请号：US18452385
申请日：2023-08-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Lisa Ison
Abstract: A teleoperative system includes a first manipulator assembly, a second manipulator assembly, a first medical instrument movable by the first manipulator assembly, a second medical instrument movable by the second manipulator assembly, a first alignment component positioned on the first manipulator assembly, a second alignment component positioned on an entry port, and a control system configured to record a position of the first manipulator assembly in response to receiving a user input indicating that the first alignment component is aligned with the second alignment component. The second medical instrument is sized and shaped to fit and move within the first medical instrument.
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公开(公告)号：US12161306B2
公开(公告)日：2024-12-10
申请号：US16484047
申请日：2018-02-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Stephen J. Blumenkranz , Federico Barbagli , Christopher R. Carlson
IPC: A61B10/02 , A61B5/00 , A61B5/02 , A61B10/04 , A61B17/12 , A61B18/14 , A61B34/20 , A61B1/267 , A61B17/00 , A61B18/00 , A61B90/00
Abstract: A medical system includes an outer catheter comprising one or more first lumens, a sealing device coupled to the outer catheter, an inner instrument configured to be slideably deployed through one of the one or more first lumens and comprising one or more first sensors configured to detect one or more anatomical features below a surface of the anatomic passageway, one or more second sensors, and a processor. The processor is configured to detect bleeding into the anatomic passageway from outside the anatomic passageway using the one or more second sensors and disable advancement of the inner instrument when the one or more first sensors detect the one or more anatomical features. The one or more second sensors are configured to be positioned distal to the sealing device and mounted on the inner instrument near a distal end of the inner instrument.
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公开(公告)号：US20240350205A1
公开(公告)日：2024-10-24
申请号：US18688637
申请日：2022-08-23
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Serena H. Wong , Federico Barbagli , Samuel Raybin
CPC classification number: A61B34/20 , A61B8/12 , A61B8/488 , A61B2034/2061 , A61B2034/2063
Abstract: A system may include an elongate flexible device, a flexible instrument, and a processor. The elongate flexible device may include a first shape sensor configured to generate first shape data corresponding to a shape of the elongate flexible device. The flexible instrument may include a second shape sensor configured to generate second shape data corresponding to a shape of the flexible instrument. The processor may be configured to register the flexible instrument to the elongate flexible device based on the first shape data and the second shape data. The first shape data and the second shape data may be generated while the flexible instrument is mated with the elongate flexible device.
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公开(公告)号：US12011232B2
公开(公告)日：2024-06-18
申请号：US17666096
申请日：2022-02-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao , Caitlin Q. Donhowe
CPC classification number: A61B34/20 , A61B1/005 , A61B1/009 , A61B1/2676 , A61B5/064 , A61B17/00234 , A61B90/39 , A61B2017/003 , A61B2017/00809 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B34/25 , A61B2090/3614 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B90/37 , A61B2090/371 , A61B2090/3983
Abstract: A system includes a medical instrument, a teleoperation manipulator, an optical tracking sensor, and a control system. The medical instrument includes an elongated flexible body, a rigid proximal body comprising a reference portion, and a shape sensor having a reference point. The control system is configured to: track, with the optical tracking sensor, a first set of optical fiducials on a patient anatomy and a second set of optical fiducials on the reference portion; determine, using the second set of optical fiducials, a position of the reference point for a plurality of insertion measurements of a position measuring device; receive shape information from the shape sensor; and determine a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first set of optical fiducials, the position of the reference point as indicated by the position measuring device, and the shape information.
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