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公开(公告)号：US20240245475A1
公开(公告)日：2024-07-25
申请号：US18441965
申请日：2024-02-14
发明人： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
CPC分类号： A61B34/32 , A61B17/00234 , A61B17/3478 , A61B34/10 , A61B34/30 , A61N5/1077 , A61B2034/105 , A61B2034/107 , A61B2034/2065 , A61B2034/302 , A61B2034/306
摘要： A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
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公开(公告)号：US12033325B2
公开(公告)日：2024-07-09
申请号：US18299612
申请日：2023-04-12
发明人： Junning Li , Pechin Chien Pau Lo , Ahmed Taha , Tao Zhao
CPC分类号： G06T7/0012 , A61B34/10 , A61B34/20 , G06T7/12 , A61B2034/2065 , G06T2207/30101
摘要： A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting at least one of a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The weighting that at least one of the plurality of volumetric units includes applying a weight based on a foreground structure classification. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.
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3.发明授权公开(公告)号：US11896316B2
公开(公告)日：2024-02-13
申请号：US16536591
申请日：2019-08-09
发明人： Pechin Chien Pau Lo , Jun Ma , Tao Zhao
CPC分类号： A61B34/20 , A61B34/25 , A61B90/37 , G06T7/0012 , G06T7/10 , G06T17/00 , A61B2034/105 , A61B2034/301 , A61B2090/374 , A61B2090/378 , A61B2090/3735 , A61B2090/3762 , G06T2207/30004
摘要： A method includes receiving anatomic image data comprising a plurality of graphical units; generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure; receiving an indication of a first user selected graphical unit, the first user selected graphical unit being outside the initial segmented set of the plurality of graphical units; applying a cost function to determine a first sequence of graphical units from the first user selected graphical unit to the initial segmented set of graphical units; receiving an indication of a second user selected graphical unit, the second user selected graphical unit being selected from the first sequence of the plurality of graphical units; and applying the cost function to determine a second sequence of the plurality of graphical units from the second user selected graphical unit to the initial segmented set of the plurality of graphical units.
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公开(公告)号：US20240024038A1
公开(公告)日：2024-01-25
申请号：US18365710
申请日：2023-08-04
发明人： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
CPC分类号： A61B34/20 , A61B1/00147 , A61B1/01 , A61B1/2676 , G06T7/0012 , G06T7/30 , A61B1/009 , A61B34/10 , G06T7/38
摘要： A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US11786311B2
公开(公告)日：2023-10-17
申请号：US17830111
申请日：2022-06-01
发明人： Prashant Chopra , Vincent Duindam , Lei Xu , Tao Zhao
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , G06T19/20 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T2210/41 , G06T2219/2021
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.
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公开(公告)号：US11779396B2
公开(公告)日：2023-10-10
申请号：US16473439
申请日：2018-01-09
发明人： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao
CPC分类号： A61B34/10 , A61B1/009 , A61B1/000094 , A61B6/032 , A61B6/466 , G06T7/11 , G06T7/30 , A61B1/005 , A61B10/02
摘要： Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.
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公开(公告)号：US11747895B2
公开(公告)日：2023-09-05
申请号：US14210840
申请日：2014-03-14
发明人： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC分类号： G06F3/048 , G06F3/01 , G06F3/04815
CPC分类号： G06F3/013 , G06F3/04815
摘要： A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.
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公开(公告)号：US20230266823A1
公开(公告)日：2023-08-24
申请号：US18311107
申请日：2023-05-02
发明人： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC分类号： G06F3/01 , G06F3/04815
CPC分类号： G06F3/013 , G06F3/04815
摘要： A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.
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公开(公告)号：US20230249354A1
公开(公告)日：2023-08-10
申请号：US18187612
申请日：2023-03-21
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC分类号： B25J9/1697 , B25J9/1671 , B25J9/1692 , G05B19/4202 , A61B90/36 , A61B34/25 , A61B90/361 , A61B34/30 , A61B34/37 , B25J9/1666 , A61B90/37 , B25J9/1689 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , A61B34/20
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.
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公开(公告)号：US20230218193A1
公开(公告)日：2023-07-13
申请号：US18180060
申请日：2023-03-07
发明人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
CPC分类号： A61B5/061 , A61B34/20 , A61B5/7425 , A61B5/065 , A61B2034/2051
摘要： A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.
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