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公开(公告)号：US20220392087A1
公开(公告)日：2022-12-08
申请号：US17774822
申请日：2020-11-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Troy K. Adebar , Sungwon Yoon , Hui Zhang , Tao Zhao
Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to record shape data from a shape sensor for an instrument during an image capture period and generate a sensor point cloud from the recorded shape data. The computer readable instructions, when executed by the processor, may also cause the system to receive image data from an imaging system during the image capture period, generate an image point cloud for the instrument from the image data, and register the sensor point cloud to the image point cloud.
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62.发明申请公开(公告)号：US20220387115A1
公开(公告)日：2022-12-08
申请号：US17774797
申请日：2020-11-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： FEDERICO BARBAGLI , Troy K. Adebar , Sungwon Yoon , Hui Zhang , Tao Zhao
Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.
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63.发明申请公开(公告)号：US20220346886A1
公开(公告)日：2022-11-03
申请号：US17851270
申请日：2022-06-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Timothy D. Soper , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Oliver Wagner , Tao Zhao
Abstract: A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.
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64.发明申请公开(公告)号：US20220296317A1
公开(公告)日：2022-09-22
申请号：US17832319
申请日：2022-06-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： SIMON P. DIMAIO , Brian D. Hoffman , Brandon D. Itkowitz , Paul W. Mohr , David W. Robinson , Tao Zhao , Wenyi Zhao
Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.
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公开(公告)号：US20220254104A1
公开(公告)日：2022-08-11
申请号：US17617869
申请日：2020-06-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Hui Zhang , Junning Li , Bai Wang , Tao Zhao
Abstract: An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer anatomical feature.
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Patent Agency Ranking
公开(公告)号：US20220160436A1
公开(公告)日：2022-05-26
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
Abstract: A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.
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公开(公告)号：US20220104697A1
公开(公告)日：2022-04-07
申请号：US17550718
申请日：2021-12-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Stephen J. Blumenkranz , Federico Barbagli , Tao Zhao
Abstract: 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.
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公开(公告)号：US11219385B2
公开(公告)日：2022-01-11
申请号：US16353778
申请日：2019-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Prashant Chopra
Abstract: A medical system comprises an image capture probe having a camera at the probe tip; a sensor system; and a processor configured to: receive an image from the camera when the probe is located within an anatomic region; identify a probe tip position based on information received from the sensor system; identify a tissue structure in the image; define a subregion of a model of the anatomic region, the subregion surrounding the probe tip and including a plurality of virtual tissue structures—a first set of virtual tissue structures is distal of the probe tip; compare the tissue structure to a portion of the plurality of virtual tissue structures to identify a best matched virtual tissue structure; and register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the probe tip with respect to the model.
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公开(公告)号：US20210401508A1
公开(公告)日：2021-12-30
申请号：US17277414
申请日：2019-09-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Energy Cruse, II , Vincent Duindam , Pechin Chien Pau Lo , Jun Ma , Oscar G. Salazar , Bai Wang , Hui Zhang
Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.
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公开(公告)号：US20210354286A1
公开(公告)日：2021-11-18
申请号：US17287430
申请日：2019-10-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Simon P. DiMaio , Ambarish G. Goswami , Dinesh Rabindran , Changyeob Shin , Tao Zhao
Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.
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