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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：US11684758B2
公开(公告)日：2023-06-27
申请号：US16863067
申请日：2020-04-30
发明人： Vincent Duindam , Samuel Kwok Wai Au , Caitlin Q. Donhowe , Carolyn M. Fenech , Catherine J. Mohr , Giuseppe Maria Prisco
IPC分类号： A61M25/06 , A61B1/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/00 , A61B1/01 , A61B10/04 , A61M25/01 , A61B34/20 , A61B17/22 , A61B5/00 , A61B34/30 , A61B17/00
CPC分类号： A61M25/0662 , A61B1/00006 , A61B1/0052 , A61B1/00078 , A61B1/00154 , A61B1/01 , A61B1/018 , A61B5/06 , A61B5/065 , A61B10/02 , A61B10/04 , A61M25/003 , A61M25/0074 , A61M25/0113 , A61B1/0057 , A61B5/062 , A61B5/6852 , A61B2017/00292 , A61B2017/00323 , A61B2017/00809 , A61B2017/22074 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61M25/0147 , A61M2025/0034 , A61M2025/0166
摘要： A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.
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公开(公告)号：US20220346886A1
公开(公告)日：2022-11-03
申请号：US17851270
申请日：2022-06-28
发明人： Timothy D. Soper , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Oliver Wagner , Tao Zhao
摘要： A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.
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公开(公告)号：US20220160436A1
公开(公告)日：2022-05-26
申请号：US17666096
申请日：2022-02-07
摘要： A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.
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公开(公告)号：US20210106289A1
公开(公告)日：2021-04-15
申请号：US17127888
申请日：2020-12-18
发明人： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
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：US10653866B2
公开(公告)日：2020-05-19
申请号：US15257387
申请日：2016-09-06
发明人： Vincent Duindam , Catherine J. Mohr , Carolyn M. Fenech , Giuseppe Maria Prisco , Samuel Kwok Wai Au , Caitlin Q. Donhowe
IPC分类号： A61B1/00 , A61M25/06 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/00 , A61B1/01 , A61B10/04 , A61M25/01 , A61B34/20 , A61B17/00 , A61B17/22 , A61B5/00 , A61B34/30
摘要： A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.
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公开(公告)号：US10373719B2
公开(公告)日：2019-08-06
申请号：US14845031
申请日：2015-09-03
摘要： A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.
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公开(公告)号：US20190142372A1
公开(公告)日：2019-05-16
申请号：US16247057
申请日：2019-01-14
发明人： Caitlin Q. Donhowe , Prashant Chopra , Dorin Panescu , Carol Reiley , Tao Zhao
CPC分类号： A61B8/12 , A61B5/0066 , A61B5/065 , A61B8/0841 , A61B8/085 , A61B8/4245 , A61B8/4263 , A61B10/04 , A61B17/00234 , A61B34/10 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2090/364
摘要： A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.
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公开(公告)号：US20180078318A1
公开(公告)日：2018-03-22
申请号：US15564509
申请日：2016-04-04
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 , A61B34/10 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/207 , A61B2034/301 , A61B2090/365 , A61B2090/3945 , A61B2090/397
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：US09730611B2
公开(公告)日：2017-08-15
申请号：US13964724
申请日：2013-08-12
CPC分类号： A61B5/06 , A61B5/065 , A61B34/20 , A61B34/30 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , A61M25/0147 , A61M2025/0166
摘要： A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature. The first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first alignment feature.
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