公开(公告)号：US10314656B2

公开(公告)日：2019-06-11

申请号：US15116115

申请日：2015-02-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Tao Zhao ,  Lei Xu

IPC: A61B34/10 ,  A61B34/30 ,  A61B34/20 ,  G06T19/20

Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises detecting deflection of the branched anatomical fomation with a shape sensor to create a three dimensional deformation field. The method further comprises applying the three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation. The method further comprises dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation. The method further comprises displaying a composite image including an image of an interventional instrument positioned within the branched anatomical formation and the dynamically displayed image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20190008413A1

公开(公告)日：2019-01-10

申请号：US16114456

申请日：2018-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/06 ,  G06F19/00 ,  A61B34/30 ,  A61B5/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00

Abstract: A medical system comprises a surgical device including a tracking system. The medical system also includes a memory storing anatomical data describing a patient anatomy. The medical system also includes a processor configured for generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy. The processor is also configured for determining, by the tracking system, a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways. The processor is also configured for computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch. The processor is also configured for deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend.

公开(公告)号：US09918659B2

公开(公告)日：2018-03-20

申请号：US14204807

申请日：2014-03-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Tao Zhao ,  John A Cole

IPC: A61B5/05 ,  A61B5/06 ,  A61B5/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B90/00

CPC classification number: A61B5/064 ,  A61B5/6879 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2090/363 ,  A61B2090/3937 ,  A61B2090/3966 ,  A61B2560/0456

Abstract: A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.

公开(公告)号：US20150148690A1

公开(公告)日：2015-05-28

申请号：US14531016

申请日：2014-11-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B5/00 ,  A61B5/08 ,  A61B5/20 ,  A61B5/02

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/00055 ,  A61B1/0051 ,  A61B1/2676 ,  A61B5/0037 ,  A61B5/02007 ,  A61B5/02028 ,  A61B5/08 ,  A61B5/20 ,  A61B5/4064 ,  A61B5/42 ,  A61B5/6852 ,  A61B5/7475 ,  A61B34/20 ,  A61B2017/00323 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2090/3614 ,  A61B2090/367 ,  A61B2576/023 ,  A61B2576/026 ,  G06T7/75 ,  G06T19/003 ,  G06T2207/10068

Abstract: A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.

Abstract translation: 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。

公开(公告)号：US12232835B2

公开(公告)日：2025-02-25

申请号：US18793544

申请日：2024-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/00 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/30 ,  A61B34/32 ,  A61N5/10 ,  A61B34/20

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US12161434B2

公开(公告)日：2024-12-10

申请号：US18441965

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/30 ,  A61N5/10 ,  A61B34/20

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US20240390086A1

公开(公告)日：2024-11-28

申请号：US18793544

申请日：2024-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US20240081775A1

公开(公告)日：2024-03-14

申请号：US18516835

申请日：2023-11-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Prashant Chopra ,  Dorin Panescu ,  Carol Reiley ,  Tao Zhao

IPC: A61B8/12 ,  A61B8/00 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B34/10

CPC classification number: A61B8/12 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B5/065 ,  A61B8/4245

Abstract: A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.

公开(公告)号：US11896364B2

公开(公告)日：2024-02-13

申请号：US17532039

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/05 ,  A61B5/06 ,  G06T7/33 ,  A61B34/20 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B5/066 ,  A61B1/009 ,  A61B1/000094 ,  A61B34/20 ,  G06T7/33 ,  A61B5/062 ,  A61B2034/2065 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the probe; compare a tissue structure in an image received from a camera positioned at the tip of the probe to a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; and based on identification of the closest matched virtual tissue structure, register the image to the model to identify a virtual probe position for the tip of the probe with respect to the model.

公开(公告)号：US20240023902A1

公开(公告)日：2024-01-25

申请号：US18339127

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Tao Zhao ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045

CPC classification number: A61B5/7425 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00006 ,  A61B1/045 ,  A61B1/000094 ,  A61B2034/2061 ,  A61B2034/2051 ,  A61B2017/00699

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.