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公开(公告)号：US20230420107A1
公开(公告)日：2023-12-28
申请号：US18463624
申请日：2023-09-08
CPC分类号： G16H20/40 , A61B34/30 , G16H40/63 , G16H30/40 , A61B34/10 , A61B34/20 , A61B34/35 , A61B2090/064
摘要： A method performed by a computing system comprises providing instructions to a teleoperational assembly to move an instrument within an anatomic passageway according to a commanded velocity profile. The method also comprises receiving a set of spatial information from the instrument positioned within the anatomic passageway and filtering the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.
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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.
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公开(公告)号：US20220378316A1
公开(公告)日：2022-12-01
申请号：US17879328
申请日：2022-08-02
摘要： A system comprises a medical instrument including a sensing tool and comprises a processing unit including one or more processors. The processing unit is configured to receive data related to a patient anatomy from the sensing tool while the medical instrument traverses the patient anatomy. The processing unit is further configured to construct an anatomic model of the patient anatomy from the data received from the sensing tool. The processing unit is further configured to generate an image of the anatomic model for display and register a position of the medical instrument to the anatomic model.
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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.
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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.
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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.
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67.发明申请公开(公告)号：US20210038055A1
公开(公告)日：2021-02-11
申请号：US16999592
申请日：2020-08-21
发明人： Caitlin Q. Donhowe , Amir Belson , Kristoffer J. Donhowe , Kenneth R. Krieg , Eric Storne , Thomas J. Yorkey , Jun Zhang
摘要： A method may comprise storing a first waypoint corresponding to a first position of a tip of a steerable medical device including an articulatable segment. The controller may perform a motion pause check operation to determine that an insertion motion of the articulatable segment into a patient anatomy has been paused, while the tip is at a second position. The controller may determine that the articulatable segment has resumed the insertion motion into the patient anatomy. After determining that the articulatable segment has resumed the insertion motion, a second waypoint corresponding to the second position of the tip of the steerable medical device, may be stored. A boundary region may be defined to form a three-dimensional volume enclosing the positions of the stored waypoints. The articulatable segment may be constrained to remain within the boundary region as the articulatable segment is inserted in the patient anatomy.
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公开(公告)号：US10582909B2
公开(公告)日：2020-03-10
申请号：US16247057
申请日：2019-01-14
发明人： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
IPC分类号： G06G7/48 , A61B8/12 , A61B8/00 , A61B34/10 , A61B8/08 , A61B10/04 , A61B17/00 , A61B5/06 , A61B90/00 , A61B34/20 , A61B5/00
摘要： A system for planning a procedure to be performed using an interventional instrument may comprise a sensor system that generates sensor data and a control system that may receive information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure. The control system may also identify a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument. A display system may display the model of the anatomic structure having the plurality of passageways and display the plurality of optional deployment locations in the model. A code may be displayed that provides information about a relative quality of each of the plurality of optional deployment locations.
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公开(公告)号：US10568700B2
公开(公告)日：2020-02-25
申请号：US15193524
申请日：2016-06-27
摘要： A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first section. The first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor. The system also includes a third electromagnetic sensor positioned on the imaging probe and a fiber shape sensor system that extends through the first section between the proximal and distal ends and along the first electromagnetic sensor and the second electromagnetic sensor.
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公开(公告)号：US10568539B2
公开(公告)日：2020-02-25
申请号：US16028062
申请日：2018-07-05
摘要： A catheter system includes an elongate flexible catheter and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure, and a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.
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