公开(公告)号：US12004820B2

公开(公告)日：2024-06-11

申请号：US17532369

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/20 ,  A61B1/00 ,  A61B5/00 ,  A61B5/01 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/12 ,  G06T7/33

CPC classification number: A61B34/20 ,  A61B1/0016 ,  A61B5/0066 ,  A61B5/015 ,  A61B5/0536 ,  A61B5/055 ,  A61B5/062 ,  A61B5/066 ,  A61B6/032 ,  A61B8/0841 ,  A61B34/30 ,  A61B34/35 ,  A61B90/37 ,  G06T7/12 ,  G06T7/33 ,  G06T7/344 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  G06T2200/24 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10116 ,  G06T2207/30061 ,  G06T2207/30172

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.