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公开(公告)号：US11678813B2
公开(公告)日：2023-06-20
申请号：US17240154
申请日：2021-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Prashant Chopra , Tao Zhao
CPC classification number: A61B5/066 , A61B5/0044 , A61B5/062 , A61B5/065 , A61B34/30 , G16Z99/00 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2505/05 , A61B2562/043
Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.
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公开(公告)号：US11657502B2
公开(公告)日：2023-05-23
申请号：US17122788
申请日：2020-12-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Junning Li , Pechin Chien Pau Lo , Ahmed Taha , Tao Zhao
CPC classification number: G06T7/0012 , A61B34/10 , A61B34/20 , G06T7/12 , A61B2034/2065 , G06T2207/30101
Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.
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公开(公告)号：US20230000568A1
公开(公告)日：2023-01-05
申请号：US17942777
申请日：2022-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Wenyi Zhao , William C. Nowlin
Abstract: A system may comprise a tool including at least one reference feature. 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 receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.
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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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65.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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Patent Agency Ranking
66.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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67.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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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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