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    IMAGE-BASED SEEDING FOR REGISTRATION AND ASSOCIATED SYSTEMS AND METHODS
    4.
    发明公开
    IMAGE-BASED SEEDING FOR REGISTRATION AND ASSOCIATED SYSTEMS AND METHODS 审中-公开

    公开(公告)号：US20240130799A1

    公开(公告)日：2024-04-25

    申请号：US18260291

    申请日：2021-12-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Kevin X. Pluckter ,  Timothy D. Soper ,  Troy K. Adebar

    IPC: A61B34/20 ,  A61B34/10

    CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/2065

    Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

    SYSTEMS FOR DYNAMIC IMAGE-BASED LOCALIZATION AND ASSOCIATED METHODS
    5.
    发明公开
    SYSTEMS FOR DYNAMIC IMAGE-BASED LOCALIZATION AND ASSOCIATED METHODS 审中-公开

    公开(公告)号：US20240050160A1

    公开(公告)日：2024-02-15

    申请号：US18260307

    申请日：2021-12-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Troy K. Adebar ,  Timothy D. Soper ,  Kevin X. Pluckter

    IPC: A61B34/20 ,  A61B34/10 ,  A61B90/00

    CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B90/37 ,  A61B2034/105 ,  A61B2034/2065

    Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can be configured to obtain, from the image capture device, image data of an anatomic landmark within the anatomic region. The system can identify, based on the image data, an association between the anatomic landmark and a corresponding model landmark in a model of the anatomic region. The system can determine a localization state of the medical instrument based on the identified association, the localization state including an estimated location and an uncertainty parameter associated with the estimated location. The system can dynamically update the localization state as the medical instrument navigates within the anatomic region.

    SYSTEMS AND METHODS FOR INTELLIGENTLY SEEDING REGISTRATION
    8.
    发明申请
    SYSTEMS AND METHODS FOR INTELLIGENTLY SEEDING REGISTRATION 有权

    公开(公告)号：US20220378517A1

    公开(公告)日：2022-12-01

    申请号：US17839340

    申请日：2022-06-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

    IPC: A61B34/20 ,  A61B34/10 ,  A61B34/35 ,  G06T7/33 ,  B25J9/16

    Abstract: A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.

    Systems and methods for intraoperative segmentation
    9.
    发明授权
    Systems and methods for intraoperative segmentation 有权

    公开(公告)号：US11445934B2

    公开(公告)日：2022-09-20

    申请号：US15329676

    申请日：2015-07-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Timothy D. Soper ,  Federico Barbagli

    IPC: A61B5/06 ,  A61B1/00 ,  A61B34/20 ,  G06T7/73 ,  G06T7/149 ,  G06T7/50 ,  G06T7/00

    Abstract: A system comprises a medical instrument, including a sensing tool, and a processing unit configured to apply a segmentation function using a first seed to a three-dimensional image of a patient anatomy to create a model; receive position data from the instrument while navigating the patient anatomy; register a position of the instrument with the model; receive data related to the patient anatomy from the sensing tool; and update the model in response to detecting a difference between the model and the patient anatomy. Updating the model includes reapplying the segmentation function using a second seed corresponding to a passageway of the patient anatomy that is not present within the model. Detecting the difference between the model and the patient anatomy includes analyzing temporal information obtained from shape data generated by the sensing tool while the instrument traverses portions of the patient anatomy not represented by the model.

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