公开(公告)号：US20230046239A1

公开(公告)日：2023-02-16

申请号：US17890995

申请日：2022-08-18

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： PRASHANT CHOPRA

IPC分类号： A61B34/20 ,  A61B5/00 ,  A61B5/06 ,  A61B5/08 ,  G16H50/50 ,  A61B34/37 ,  A61B1/267 ,  A61B34/30 ,  A61B34/35

摘要： A medical system comprises a flexible device configured to be positioned at least partially within an anatomical passageway of a plurality of anatomical passageways within a patient anatomy. The medical system further comprises a memory device including computer executable instructions. The computer executable instructions are for performing operations comprising determining a deformation force exerted by a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on: a shape of the flexible device; and the deformation force exerted by the section of the flexible device.

公开(公告)号：US20220378509A1

公开(公告)日：2022-12-01

申请号：US17830111

申请日：2022-06-01

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： PRASHANT CHOPRA ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC分类号： A61B34/10 ,  A61B34/30 ,  G06T19/20 ,  A61B34/20

摘要： A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.