-
公开(公告)号：US11636597B2
公开(公告)日：2023-04-25
申请号：US16950980
申请日：2020-11-18
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
摘要： A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.
-
公开(公告)号：US11576565B2
公开(公告)日：2023-02-14
申请号：US17550718
申请日：2021-12-14
摘要： A method comprises, based on a position of a medical instrument within a patient anatomy, determining, by a control system, whether an obstruction is on a surface of a lens of the medical instrument. The method further comprises, based on a determination that the obstruction is on the surface of the lens, instructing, by the control system, a valve control mechanism to open a valve to release a flow of pressurized fluid through a nozzle of the medical instrument and over the surface of the lens. The valve is configured to control provision of the pressurized fluid.
-
公开(公告)号：US11571262B2
公开(公告)日：2023-02-07
申请号：US16496034
申请日：2018-04-18
发明人： Bai Wang , Federico Barbagli , Energy Cruse, II , Scott S. Ichikawa , Pechin Chien Pau Lo , Oscar G. Salazar , Aaron B. Tinling , Oliver J. Wagner , Tao Zhao
IPC分类号： A61B34/00 , A61B34/10 , G06F3/04815 , G06F3/04845 , G06F3/04883
摘要： A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.
-
公开(公告)号：US11471221B2
公开(公告)日：2022-10-18
申请号：US16859755
申请日：2020-04-27
发明人： Tao Zhao , William C. Nowlin , Wenyi Zhao
摘要： A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.
-
公开(公告)号：US11426141B2
公开(公告)日：2022-08-30
申请号：US16751797
申请日：2020-01-24
发明人： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
IPC分类号： A61B10/04 , A61B8/12 , A61B8/00 , A61B34/10 , A61B8/08 , A61B17/00 , A61B5/06 , A61B90/00 , A61B34/20 , A61B5/00
摘要： A system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure, record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an intraoperative image of the target structure from a sensor system disposed at least partially within the anatomic structure, and identify, based on the intraoperative image of the target structure from the sensor system disposed at least partially within the anatomic structure indicating a different target location than the recorded target location, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.
-
公开(公告)号：US11423542B2
公开(公告)日：2022-08-23
申请号：US16894021
申请日：2020-06-05
IPC分类号： G06T7/00 , A61B1/00 , G06T7/33 , A61B34/30 , A61B34/10 , A61B34/35 , A61M25/01 , A61B17/00 , A61B90/00 , A61B34/20
摘要： A system includes a catheter, a display system, and a control system in communication with the catheter and the display system. The control system includes one or more processors configured for receiving a set of model points of a model of one or more passageways of a patient and receiving a first set of measured points collected from within the patient passageways. Each point includes coordinates within a surgical environment occupied by the patient. The one or more processors are also configured for generating a first registration between the set of measured points and the set of model points, generating a second registration between a second set of measured points and the set of model points, and determining, after generating the first and second registrations, whether to implement the second registration in place of the first registration.
-
公开(公告)号：US20220156923A1
公开(公告)日：2022-05-19
申请号：US17435833
申请日：2020-03-12
发明人： Shiyang Chen , Pechin Chien Pau Lo , Tao Zhao
摘要： A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.
-
68.发明授权公开(公告)号：US11284952B2
公开(公告)日：2022-03-29
申请号：US16779564
申请日：2020-01-31
摘要： A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.
-
公开(公告)号：US11202680B2
公开(公告)日：2021-12-21
申请号：US15752166
申请日：2016-08-11
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 , A61B34/10 , A61B17/00
摘要： A method comprises segmenting first modality image data representing a model of one or more passageways within a patient; generating a first set of points based on the segmented image data; registering the first set of points to a second set of points obtained by a second modality by: determining a set of matches between the first and second sets of points, and discarding a first subset of the set of matches based on a heuristic to generate a modified set of matches by ignoring an associated set of matches between the first and second sets of points when computing a corrective motion for the second set of points—an ignored match is included in a second subset of the set of matches when computing a second corrective motion for the second set of points; and displaying a visual representation of the passageways based on the modified set of matches.
-
公开(公告)号：US20210369365A1
公开(公告)日：2021-12-02
申请号：US16763552
申请日：2018-11-19
摘要： A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.
-
-
-
-
-
-
-
-
-
搜索结果
234 条记录 (耗时 0.023 秒)
