公开(公告)号：US11202680B2

公开(公告)日：2021-12-21

申请号：US15752166

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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 ,  A61B34/10 ,  A61B17/00

Abstract: 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.

公开(公告)号：US20210038055A1

公开(公告)日：2021-02-11

申请号：US16999592

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005 ,  A61B1/00

Abstract: 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.

公开(公告)号：US10582909B2

公开(公告)日：2020-03-10

申请号：US16247057

申请日：2019-01-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06G7/48 ,  A61B8/12 ,  A61B8/00 ,  A61B34/10 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00 ,  A61B5/06 ,  A61B90/00 ,  A61B34/20 ,  A61B5/00

Abstract: 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.

公开(公告)号：US10568700B2

公开(公告)日：2020-02-25

申请号：US15193524

申请日：2016-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/05 ,  A61B34/20 ,  A61B34/10 ,  A61B5/06 ,  A61M25/01 ,  A61B34/30

Abstract: 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.

公开(公告)号：US10568539B2

公开(公告)日：2020-02-25

申请号：US16028062

申请日：2018-07-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/05 ,  A61B5/06 ,  A61B34/20 ,  A61M25/01 ,  A61B90/00 ,  A61B34/30

Abstract: 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.

公开(公告)号：US20180333039A1

公开(公告)日：2018-11-22

申请号：US16048438

申请日：2018-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005 ,  A61B1/00 ,  A61B34/10 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B1/0051 ,  A61B1/00009 ,  A61B1/00147 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US20180325417A1

公开(公告)日：2018-11-15

申请号：US16028062

申请日：2018-07-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/06 ,  A61B34/20 ,  A61B90/00 ,  A61B34/30 ,  A61M25/01

CPC classification number: A61B5/06 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  A61M25/0147 ,  A61M2025/0166

Abstract: 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.

公开(公告)号：US20180256262A1

公开(公告)日：2018-09-13

申请号：US15759129

申请日：2016-09-09

Applicant: Intuitive Surgical Operations, Inc,

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

IPC: A61B34/20 ,  A61B1/267 ,  A61B17/00

CPC classification number: A61B34/20 ,  A61B1/005 ,  A61B1/2676 ,  A61B17/00234 ,  A61B34/25 ,  A61B2017/003 ,  A61B2017/00809 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2090/3614 ,  A61B2090/371

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.

公开(公告)号：US20180235709A1

公开(公告)日：2018-08-23

申请号：US15752166

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B5/00 ,  A61B5/01 ,  A61B5/053 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  A61B34/35 ,  A61B5/06 ,  A61B90/00 ,  G06T7/33

CPC classification number: A61B34/20 ,  A61B1/0016 ,  A61B5/0066 ,  A61B5/015 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/062 ,  A61B5/066 ,  A61B6/032 ,  A61B8/0841 ,  A61B34/30 ,  A61B34/35 ,  A61B90/37 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  G06T7/12 ,  G06T7/33 ,  G06T7/344 ,  G06T2200/24 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10116 ,  G06T2207/30061 ,  G06T2207/30172

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：US20170325896A1

公开(公告)日：2017-11-16

申请号：US15525909

申请日：2015-11-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Frederico Barbagli

IPC: A61B34/20 ,  A61B34/35 ,  A61B34/10 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  G06F19/00

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/37 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/371 ,  A61B2090/373 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  G06F19/321 ,  G06F19/3481

Abstract: 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.