公开(公告)号：US11284950B2

公开(公告)日：2022-03-29

申请号：US16242577

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B5/00 ,  A61B34/30 ,  A61B34/00 ,  A61B17/00

Abstract: A guiding apparatus comprises a support assembly extending along a longitudinal axis and including a first plurality of linkages and a second plurality of linkages. The first plurality of linkages includes a first channel formation and the second plurality of linkages includes a second channel formation. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an opening sized to receive an elongated flexible instrument.

公开(公告)号：US20220071715A1

公开(公告)日：2022-03-10

申请号：US17532369

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: 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

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.

公开(公告)号：US20210307837A1

公开(公告)日：2021-10-07

申请号：US17353322

申请日：2021-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/10 ,  A61B34/20 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20

Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

公开(公告)号：US20210177299A1

公开(公告)日：2021-06-17

申请号：US17100516

申请日：2020-11-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Vincent Duindam

IPC: A61B5/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B1/05 ,  A61B1/273

Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

公开(公告)号：US10966790B2

公开(公告)日：2021-04-06

申请号：US16681003

申请日：2019-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US10744303B2

公开(公告)日：2020-08-18

申请号：US16283039

申请日：2019-02-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B1/00 ,  A61M25/01 ,  A61B34/30 ,  A61B34/20 ,  A61B18/24

Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

公开(公告)号：US20200254223A1

公开(公告)日：2020-08-13

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01

Abstract: A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred.

公开(公告)号：USD892818S1

公开(公告)日：2020-08-11

申请号：US29653032

申请日：2018-06-12

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Ruchi Bhatt ,  Federico Barbagli ,  Christopher R. Carlson ,  Energy Cruse, II ,  Vincent Duindam ,  Oliver J. Wagner ,  Scott S. Ichikawa ,  Aaron B. Tinling

公开(公告)号：US20200163581A1

公开(公告)日：2020-05-28

申请号：US16752064

申请日：2020-01-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anoop B. Kowshik ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Carolyn M. Fenech

IPC: A61B5/06 ,  A61B34/20

Abstract: A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.

公开(公告)号：US20200146757A1

公开(公告)日：2020-05-14

申请号：US16735396

申请日：2020-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B34/20 ,  A61M25/01 ,  A61B5/06 ,  A61B34/10

Abstract: A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube.