公开(公告)号：US20200054399A1

公开(公告)日：2020-02-20

申请号：US16499575

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL. OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tiniing ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/37

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US10376321B2

公开(公告)日：2019-08-13

申请号：US14916854

申请日：2014-09-11

Applicant: Intuitive Surgical Operations Inc.

Inventor： Simon P. DiMaio ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B34/20 ,  A61B17/32 ,  A61B5/053 ,  A61B17/17 ,  A61B46/00 ,  A61B10/04 ,  A61B17/16 ,  A61B34/30 ,  A61B90/00 ,  A61B17/08 ,  A61B18/00

Abstract: A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.

公开(公告)号：US20190133702A1

公开(公告)日：2019-05-09

申请号：US16242577

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/30 ,  A61B34/00

Abstract: A guiding apparatus comprises a support assembly extending along a longitudinal axis. The support assembly includes a first plurality of linkages including a first channel formation, a second plurality of linkages including a second channel formation, and a strut having a proximal portion and a distal portion. The distal portion of the strut is coupled to the support assembly. 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 elongated opening sized to receive an elongated flexible instrument in a direction generally perpendicular to the longitudinal axis.

公开(公告)号：USD830381S1

公开(公告)日：2018-10-09

申请号：US29600994

申请日：2017-04-18

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Energy Cruse, II ,  Vincent Duindam ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

公开(公告)号：US20180240237A1

公开(公告)日：2018-08-23

申请号：US15752154

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  A61B1/00 ,  A61B34/35 ,  A61M25/01 ,  G06T7/33 ,  A61B34/10

CPC classification number: G06T7/0014 ,  A61B1/0016 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  A61M25/01 ,  G06T7/344 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30061

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 and displayed on a display.

公开(公告)号：US20170303824A1

公开(公告)日：2017-10-26

申请号：US15518385

申请日：2015-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B5/107 ,  A61B1/018 ,  A61B1/00 ,  A61B1/06 ,  A61B1/04 ,  G02B6/02 ,  A61B1/005 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B1/00096 ,  A61B1/00078 ,  A61B1/0051 ,  A61B1/0055 ,  A61B1/018 ,  A61B2034/2061

Abstract: An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.

公开(公告)号：US20170189118A1

公开(公告)日：2017-07-06

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 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T19/20 ,  G06T2210/41 ,  G06T2219/2021

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 applying a 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 and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

公开(公告)号：US20170112366A1

公开(公告)日：2017-04-27

申请号：US15397158

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B1/00 ,  A61B1/01 ,  A61B1/005

CPC classification number: A61B1/00147 ,  A61B1/0051 ,  A61B1/01 ,  A61B5/065

Abstract: A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

公开(公告)号：US20170071683A1

公开(公告)日：2017-03-16

申请号：US15359020

申请日：2016-11-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract translation: 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。

公开(公告)号：US20160302873A1

公开(公告)日：2016-10-20

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: A61B34/20 ,  A61M25/01 ,  A61B5/06

CPC classification number: A61B34/20 ,  A61B5/062 ,  A61B34/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/302 ,  A61M25/0127 ,  A61M25/0147

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.

Abstract translation: 医疗系统包括具有延伸穿过第一和第二部分的第一部分，第二部分和主管腔的导管。 该系统还包括尺寸适于延伸穿过导管的主腔的成像探针。 该系统还包括沿着第一部分的近端处的纵向传感器轴线延伸的第一电磁传感器和在第一部分的远端沿着纵向传感器轴线延伸的第二电磁传感器。 近端和远端之间的第一部分柔性地联接第一和第二电磁传感器，使得第一电磁传感器可相对于第二电磁传感器移动。 该系统还包括位于成像探针上的第三电磁传感器和在近端和远端之间以及沿第一电磁传感器和第二电磁传感器延伸穿过第一部分的纤维形状传感器系统。