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公开(公告)号：US20240090963A1
公开(公告)日：2024-03-21
申请号：US18521863
申请日：2023-11-28
发明人： Timothy D. Soper , Vincent Duindam
CPC分类号： A61B34/37 , A61B1/000094 , A61B1/00147 , A61B34/10 , A61B34/20 , G06F30/23 , G06T3/0068 , G06T7/344 , G06T17/20 , A61B2034/105 , A61B2034/2065 , G06T2210/41
摘要： Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.
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公开(公告)号：US20240065779A1
公开(公告)日：2024-02-29
申请号：US18491494
申请日：2023-10-20
发明人： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
CPC分类号： A61B34/20 , A61B17/00234 , A61B34/25 , A61B34/32 , A61B34/35 , A61B2034/2061 , A61B2034/301
摘要： Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
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公开(公告)号：US20240023902A1
公开(公告)日：2024-01-25
申请号：US18339127
申请日：2023-06-21
发明人： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
CPC分类号： A61B5/7425 , A61B5/062 , A61B5/065 , A61B34/20 , A61B1/00006 , A61B1/045 , A61B1/000094 , A61B2034/2061 , A61B2034/2051 , A61B2017/00699
摘要： A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
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公开(公告)号：US11832891B2
公开(公告)日：2023-12-05
申请号：US16306418
申请日：2017-06-30
发明人： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
CPC分类号： A61B34/20 , A61B17/00234 , A61B34/25 , A61B34/32 , A61B34/35 , A61B2017/00075 , A61B2017/00119 , A61B2017/00809 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2560/0276
摘要： A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.
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公开(公告)号：US11636597B2
公开(公告)日：2023-04-25
申请号：US16950980
申请日：2020-11-18
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
摘要： A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.
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公开(公告)号：US20220378316A1
公开(公告)日：2022-12-01
申请号：US17879328
申请日：2022-08-02
摘要： A system comprises a medical instrument including a sensing tool and comprises a processing unit including one or more processors. The processing unit is configured to receive data related to a patient anatomy from the sensing tool while the medical instrument traverses the patient anatomy. The processing unit is further configured to construct an anatomic model of the patient anatomy from the data received from the sensing tool. The processing unit is further configured to generate an image of the anatomic model for display and register a position of the medical instrument to the anatomic model.
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87.发明授权公开(公告)号：US11490793B2
公开(公告)日：2022-11-08
申请号：US15397158
申请日：2017-01-03
摘要： A medical system includes a medical instrument, at least one actuator, and a controller. The medical instrument defines a central axis and includes a steerable tip. The controller is configured to command the at least one actuator to cause active steering control of the medical instrument according to an insertion control mode after movement of the medical instrument is detected and exceeds a first threshold value in an insertion direction and to deactivate the at least one actuator to cause the steerable tip of the medical instrument to move freely, without the active steering control, in reaction to forces exerted against the medical instrument by a wall of the anatomic passageway after axial movement of the medical instrument is detected by the medical system and exceeds a second threshold value in a retraction direction. At least one of the first or second threshold values comprises a velocity threshold value.
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公开(公告)号：US11423542B2
公开(公告)日：2022-08-23
申请号：US16894021
申请日：2020-06-05
IPC分类号： G06T7/00 , A61B1/00 , G06T7/33 , A61B34/30 , A61B34/10 , A61B34/35 , A61M25/01 , A61B17/00 , A61B90/00 , A61B34/20
摘要： A system includes a catheter, a display system, and a control system in communication with the catheter and the display system. The control system includes one or more processors configured for receiving a set of model points of a model of one or more passageways of a patient and receiving a first set of measured points collected from within the patient passageways. Each point includes coordinates within a surgical environment occupied by the patient. The one or more processors are also configured for generating a first registration between the set of measured points and the set of model points, generating a second registration between a second set of measured points and the set of model points, and determining, after generating the first and second registrations, whether to implement the second registration in place of the first registration.
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公开(公告)号：US20220168054A1
公开(公告)日：2022-06-02
申请号：US17675687
申请日：2022-02-18
摘要： An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.
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公开(公告)号：US11344376B2
公开(公告)日：2022-05-31
申请号：US16311514
申请日：2017-06-30
IPC分类号： A61B34/30 , A61B1/005 , A61B34/35 , A61B34/37 , G02B23/24 , A61B1/00 , A61B34/00 , A61M25/01 , A61B34/20 , A61B17/00
摘要： A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.
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