公开(公告)号：US20200170725A1

公开(公告)日：2020-06-04

申请号：US16779564

申请日：2020-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

公开(公告)号：US20200000526A1

公开(公告)日：2020-01-02

申请号：US16482020

申请日：2018-02-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao

IPC: A61B34/20 ,  A61B34/35

Abstract: Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.

公开(公告)号：US20190354754A1

公开(公告)日：2019-11-21

申请号：US16527413

申请日：2019-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao

IPC: G06K9/00 ,  G06T19/00

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

公开(公告)号：US20190320878A1

公开(公告)日：2019-10-24

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B1/00 ,  A61B6/03 ,  A61B6/00 ,  G06T7/30 ,  G06T7/11

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

公开(公告)号：US10410050B2

公开(公告)日：2019-09-10

申请号：US15825358

申请日：2017-11-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao

IPC: G06K9/00 ,  G06T19/00

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

公开(公告)号：US10373719B2

公开(公告)日：2019-08-06

申请号：US14845031

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G16H50/50 ,  A61B34/10 ,  A61B34/00

Abstract: A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

公开(公告)号：US20190142372A1

公开(公告)日：2019-05-16

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

CPC classification number: A61B8/12 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4245 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

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：US20180078318A1

公开(公告)日：2018-03-22

申请号：US15564509

申请日：2016-04-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/207 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/3945 ,  A61B2090/397

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US20180000329A1

公开(公告)日：2018-01-04

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B5/00 ,  A61B1/313 ,  A61B1/06 ,  A61B1/05 ,  A61B1/00 ,  H04N13/02 ,  A61B90/00 ,  G01N21/64

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US09827057B2

公开(公告)日：2017-11-28

申请号：US14997257

申请日：2016-01-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John Ryan Steger ,  David Q. Larkin

IPC: B25J13/08 ,  A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.