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    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor
    81.
    发明申请
    Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor 审中-公开
    使用Twist-Insensitive形状传感器进行绝对三维测量的方法和系统

    公开(公告)号：US20160157944A1

    公开(公告)日：2016-06-09

    申请号：US15014513

    申请日：2016-02-03

    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

    CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/71 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2562/00 ,  G01B11/24 ,  G01D5/35316

    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。

    Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors
    82.
    发明申请
    Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors 有权
    减少光纤形状传感器测量误差的系统和方法

    公开(公告)号：US20130345719A1

    公开(公告)日：2013-12-26

    申请号：US13925965

    申请日：2013-06-25

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Caitlin Q. Donhowe ,  Stephen J. Blumenkranz ,  Vincent Duindam

    IPC: G02B6/00 ,  A61B19/00

    CPC classification number: A61B34/20 ,  A61B1/00165 ,  A61B1/00167 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B2018/00791 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  G02B6/00

    Abstract: A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument.

    Abstract translation: 一种形状检测装置包括一个包括具有中性轴的细长轴的仪器。 形状传感器还包括具有细长光纤的第一形状传感器，所述细长光纤在细长轴内在离中性轴线的第一径向距离处延伸。 该装置还包括在细长轴内延伸的形状传感器补偿装置。 该装置还包括跟踪系统，用于从第一形状传感器接收形状数据，并补偿来自形状传感器补偿装置的数据，以用于计算仪器的弯曲测量。

    Catheter sensor systems
    86.
    发明授权
    Catheter sensor systems 有权

    公开(公告)号：US12127797B2

    公开(公告)日：2024-10-29

    申请号：US16735396

    申请日：2020-01-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Carolyn M. Fenech ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC: A61B34/20 ,  A61B5/06 ,  A61B34/10 ,  A61M25/01 ,  A61B34/30

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

    Abstract: A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube.

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