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    SYSTEMS FOR EVALUATING REGISTERABILITY OF ANATOMIC MODELS AND ASSOCIATED METHODS
    81.
    发明公开
    SYSTEMS FOR EVALUATING REGISTERABILITY OF ANATOMIC MODELS AND ASSOCIATED METHODS 审中-公开

    公开(公告)号：US20230240750A1

    公开(公告)日：2023-08-03

    申请号：US18002840

    申请日：2021-05-11

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Timothy D. Soper ,  Tao Zhao ,  Federico Barbagli ,  Pechin Chien Pau Lo

    IPC: A61B34/10 ,  G06T19/20

    CPC classification number: A61B34/10 ,  G06T19/20 ,  A61B2034/105 ,  G06T2219/2004

    Abstract: Devices, systems, methods, and computer program products for planning medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure includes a processor and memory operably coupled to the processor. The memory stores instructions that, when executed by the processor, cause the system to perform operations including receiving a three-dimensional model of an anatomic region of a patient and evaluating whether the three-dimensional model is suitable for use in a registration procedure to be performed in the anatomic region. The evaluating includes: analyzing a span of the three-dimensional model along at least two different directions, determining whether the three-dimensional model includes at least one segmented component corresponding to at least one structure of the anatomic region, and performing a registration between the three-dimensional model and a virtual registration data set.

    Systems and methods of registration for image-guided procedures
    82.
    发明授权
    Systems and methods of registration for image-guided procedures 有权

    公开(公告)号：US11517184B2

    公开(公告)日：2022-12-06

    申请号：US16481990

    申请日：2018-01-31

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: A61B1/005 ,  A61B34/20 ,  A61B1/00 ,  A61B1/04 ,  A61B1/267

    Abstract: A medical device includes an elongate device and one or more processors coupled to the elongate device. The elongate device includes a steerable distal end and a shape sensor located along a length of the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to, based on information from a sensor, monitor an insertion motion of the elongate device, detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. The data collection event is at least partially based on a change in direction of the insertion motion of the elongate device.

    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY
    83.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY 有权

    公开(公告)号：US20220343504A1

    公开(公告)日：2022-10-27

    申请号：US17859871

    申请日：2022-07-07

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: G06T7/00 ,  A61B1/00 ,  G06T7/33 ,  A61B34/30 ,  A61B34/10 ,  A61B34/35 ,  A61M25/01

    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 passageway's. 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.

    Systems and methods for intelligently seeding registration
    85.
    发明授权
    Systems and methods for intelligently seeding registration 有权

    公开(公告)号：US11382695B2

    公开(公告)日：2022-07-12

    申请号：US16491244

    申请日：2018-03-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00 ,  G06T3/00 ,  A61B34/30

    Abstract: A medical system comprises a robotic manipulator arm and an imaging probe coupled to the robotic manipulator arm such that the imaging probe is movable in connection with the robotic manipulator arm. The system also comprises a control system in communication with the robotic manipulator arm and the imaging probe. The control system performs operations comprising extracting system information. The system information includes kinematic information from a robotic arm of a medical system, setup information, or a combination of the kinematic information and setup information associated with a medical procedure to be performed. The control system also generates, by a control system processor, a first registration between a first set of model points of a model of a patient anatomy of interest and a second set of intra-operatively collected captured points of a portion of the patient anatomy of interest, wherein the registration is based on the extracted system information.

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