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    Systems and methods for using x-ray field emission to determine instrument position and orientation
    71.
    发明授权
    Systems and methods for using x-ray field emission to determine instrument position and orientation 有权

    公开(公告)号：US11445988B2

    公开(公告)日：2022-09-20

    申请号：US16258304

    申请日：2019-01-25

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Prashant Chopra

    IPC: A61B6/12 ,  A61B5/06 ,  A61B6/00 ,  A61B6/02 ,  A61B1/005 ,  A61B1/06

    Abstract: A method comprises determining a predicted pose of an elongate medical device within a patient anatomy. The method further comprises extracting a plurality of reference images from 3-D reference information, wherein the plurality of reference images includes a predicted reference image corresponding to the predicted pose of the elongate medical device. The method comprises capturing an x-ray image of the patient anatomy, wherein the captured x-ray image includes captured x-ray attenuation information. The method further comprises searching for a closest matching reference image between the captured x-ray image and one of the plurality of reference images. The method comprises determining an offset between the captured x-ray image and the closest matching reference image.

    Systems and methods for interventional procedure planning
    72.
    发明授权
    Systems and methods for interventional procedure planning 有权

    公开(公告)号：US11426141B2

    公开(公告)日：2022-08-30

    申请号：US16751797

    申请日：2020-01-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: 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.

    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS
    73.
    发明申请
    SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS 有权

    公开(公告)号：US20210236206A1

    公开(公告)日：2021-08-05

    申请号：US17205173

    申请日：2021-03-18

    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 may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.

    Systems and methods for interventional procedure planning
    74.
    发明授权
    Systems and methods for interventional procedure planning 有权

    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.

    SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE
    75.
    发明申请
    SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE 审中-公开

    公开(公告)号：US20190320937A1

    公开(公告)日：2019-10-24

    申请号：US16402531

    申请日：2019-05-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra

    IPC: A61B5/06 ,  G06T7/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/30 ,  A61B5/00

    Abstract: A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

    SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE
    76.
    发明申请
    SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE 审中-公开

    公开(公告)号：US20190175060A1

    公开(公告)日：2019-06-13

    申请号：US16193997

    申请日：2018-11-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra

    IPC: A61B5/06 ,  G06T7/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/30 ,  A61B5/00

    Abstract: A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements.

    Systems and methods for registration of a medical device using a reduced search space
    77.
    发明授权
    Systems and methods for registration of a medical device using a reduced search space 有权

    公开(公告)号：US10299698B2

    公开(公告)日：2019-05-28

    申请号：US13892871

    申请日：2013-05-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra

    IPC: A61B5/06 ,  G06T7/00 ,  A61B5/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61B90/00

    Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a first three-dimensional model of anatomic passageways including a set of anatomical centerlines of the anatomic passageways, and generating a second three-dimensional model of the anatomic passageways including a plurality of linkage elements each including two base points defining a linkage element centerline spanning a shortest distance between the two base points. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within the connected anatomical structures, matching the point on the instrument to one of the plurality of linkage elements representing one of the connected anatomical structures to locate the instrument relative to the connected anatomical structures in the stored images of the patient anatomy, and updating the matching of the point on the instrument to one of the plurality of linkage elements.

    SYSTEMS AND METHODS FOR MEDICAL PROCEDURE CONFIRMATION
    79.
    发明申请
    SYSTEMS AND METHODS FOR MEDICAL PROCEDURE CONFIRMATION 审中-公开
    医疗程序确认的系统和方法

    公开(公告)号：US20160192860A1

    公开(公告)日：2016-07-07

    申请号：US14910578

    申请日：2014-08-12

    Applicant: INTUITIVE SURGICAL OPERATIONS INC.

    Inventor： Christopher Allenby ,  Prashant Chopra ,  John Cole

    IPC: A61B5/06 ,  A61B10/04

    Abstract: A method comprises advancing a surgical instrument toward a target tissue. The surgical instrument includes a marker that is deposited at a location at or near the target tissue. After depositing the marker, the surgical instrument is withdrawn away from the target tissue. After withdrawing the surgical instrument, the location of the deposited marker is used to determine a trajectory of a distal end of the surgical instrument at or near the target tissue.

    Abstract translation: 一种方法包括使外科器械前进到目标组织。 手术器械包括沉积在靶组织处或附近的位置处的标记物。 放置标记后，将手术器械从目标组织中取出。 在撤回手术器械之后，使用沉积的标记物的位置来确定在目标组织处或附近的外科器械的远端的轨迹。

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