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    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES
    82.
    发明申请
    SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES 审中-公开

    公开(公告)号：US20200229679A1

    公开(公告)日：2020-07-23

    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 ,  A61B1/04 ,  A61B1/00 ,  A61B1/267 ,  A61B34/20

    Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to 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 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. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

    SYSTEMS AND METHODS FOR NAVIGATING TO A TARGET LOCATION DURING A MEDICAL PROCEDURE
    83.
    发明申请
    SYSTEMS AND METHODS FOR NAVIGATING TO A TARGET LOCATION DURING A MEDICAL PROCEDURE 审中-公开

    公开(公告)号：US20200179058A1

    公开(公告)日：2020-06-11

    申请号：US16623260

    申请日：2018-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Federico Barbagli ,  Simon P. DiMaio ,  Gary S. Guthart

    IPC: A61B34/20 ,  A61B34/10 ,  G01N33/48

    Abstract: The systems and methods of the present disclosure are used for guiding a medical instrument towards a target, the method positioning a medical instrument at a first location within a patient anatomy, wherein the medical instrument comprises at least one sensor, determining a first biomarker measurement using the at least one sensor, determining a second biomarker measurement using the at least one sensor, comparing the first biomarker measurement with the second biomarker measurement to determine a proximity to the target to provide a first comparison, and providing guidance for moving the medical instrument based on results of the first comparison.

    SYSTEMS AND METHODS FOR MEDICAL PROCEDURES USING OPTICAL COHERENCE TOMOGRAPHY SENSING
    85.
    发明申请
    SYSTEMS AND METHODS FOR MEDICAL PROCEDURES USING OPTICAL COHERENCE TOMOGRAPHY SENSING 审中-公开

    公开(公告)号：US20200008678A1

    公开(公告)日：2020-01-09

    申请号：US16491023

    申请日：2018-03-12

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Federico Barbagli ,  Christopher R. Carlson

    IPC: A61B5/00 ,  A61B10/04 ,  A61B34/37

    Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

    Apparatus and method for generating 3-D data for an anatomical target using optical fiber shape sensing
    86.
    发明授权
    Apparatus and method for generating 3-D data for an anatomical target using optical fiber shape sensing 有权

    公开(公告)号：US10480926B2

    公开(公告)日：2019-11-19

    申请号：US15757436

    申请日：2016-12-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mark E. Froggatt ,  Eric E. Sanborn ,  Federico Barbagli

    IPC: G01B9/02 ,  G01M11/00 ,  A61B3/10 ,  A61B5/00 ,  A61B3/107 ,  A61B5/026 ,  A61B5/1459 ,  A61B5/06 ,  A61B5/107

    Abstract: A fiber housing includes multiple shape sensing cores and a single optical core. A distal end of the fiber housing is positionable to direct the single optical core to a current point of an anatomical target. Collimated light over a first range of frequencies is projected from the single optical core to the current point. OFDR is used to detect reflected light scattered from the current point and to process the detected light to determine a distance to the current point. Light over a second range of frequencies is projected through the multiple shape sensing optical cores to the distal end of the fiber housing. OFDR is used to measure light reflected from the distal end of the fiber housing back through the multiple shape sensing optical cores and to process the measurement to determine a position in three dimensional space of the distal end of the fiber housing and a pointing direction of the distal end of the fiber housing. A position in three dimensional space of the current point is determined based on the determined position in three dimensional space of the distal end of the fiber housing, the pointing direction of the distal end of the fiber housing, and the determined distance.

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