公开(公告)号：US20210267695A1

公开(公告)日：2021-09-02

申请号：US17258705

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew J. HAZELTON ,  Teresa G. GADDA ,  Changmeng LIU

IPC: A61B34/20 ,  A61B17/00

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.

公开(公告)号：US20210267440A1

公开(公告)日：2021-09-02

申请号：US17258841

申请日：2019-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jue LIN ,  Andrew J. HAZELTON ,  Changmeng LIU

IPC: A61B1/018 ,  A61B1/05 ,  A61B1/00 ,  A61B90/00 ,  G06T7/00

Abstract: A method for determining a position of a tool being received by a catheter, the method including capturing first images with the tool as the tool is being installed in the catheter. The method also includes generating training images for a deep convolutional neural network (DCNN) by replicating the first images and applying perturbations to the replicated first images. The method also includes training the DCNN by inputting the training images into the DCNN. The method also includes capturing second images with the tool as the tool is being installed in the catheter. The method also includes inputting the second images into the DCNN. The method also includes analyzing the second images with the trained DCNN. The method further includes determining a configuration of the tool based on the analyzed second images.